#include <WiFi.h>
#include <PubSubClient.h>
#include <ESP32Servo.h>
#include <ArduinoJson.h>

const char* ssid = "Wokwi-GUEST";     // Wi-Fi SSID
const char* password = "";            // Wi-Fi password
const char* mqtt_server = "test.mosquitto.org";  // MQTT broker

WiFiClient espClient;
PubSubClient client(espClient);
Servo myServo;
int receivedValue = 0;
const int servoPin = 18;
int currentAngle = 0;
int targetAngle = 0;
int mqttPort = 1883;
// Топики
const char* topic_prefix = "ATPEZLR8/Client1/";
const char* target_topic = "ATPEZLR8/Client1/servo/target_angle";
const char* current_topic = "ATPEZLR8/Client1/servo/current_angle";

void callback(char* topic, byte* payload, unsigned int length) {
    String message;
    for (int i = 0; i < length; i++) {
    message += (char)payload[i];
  }
  Serial.println();

  if (String(topic) == target_topic) {
    targetAngle = message.toInt();
    servo.write(targetAngle);
    Serial.print("Parsed angle: ");
    Serial.println(receivedValue);
   }
}

void reconnect() {
  while (!client.connected()) {
    Serial.print("Attempting MQTT connection...");
    if (client.connect("ESP32Client")) {
      Serial.println("connected");
      client.subscribe(target_topic);
      Serial.println("Subscribed to:");
      Serial.println(target_topic);
    } else {
      Serial.print("failed, rc=");
      Serial.print(client.state());
      Serial.println(" try again in 5 seconds");
      delay(5000);
    }
  }
}

void setup() {
  Serial.begin(115200);
  myServo.attach(servoPin, 500, 2400);
  myServo.write(currentAngle);

  setup_wifi();
  client.setServer(mqtt_server, 1883);
  client.setCallback(callback);
}

void loop() {
  if (!client.connected()) {
    reconnect();
  }
  client.loop();

  if (currentAngle != targetAngle) {
    currentAngle = targetAngle;
    myServo.write(currentAngle);
    Serial.print("Servo moved to angle: ");
    Serial.println(currentAngle);

    // Отправка текущего угла в MQTT
    char buffer[10];
    snprintf(buffer, sizeof(buffer), "%d", currentAngle);
    client.publish(current_topic, buffer);
  }

  delay(100);
}