# main.py
import time

import machine
import ssd1306
import urequests
from config import (
    API_URL,
    BUZZER_PIN,
    DIST_CLOSE_THRESHOLD,
    DIST_OPEN_THRESHOLD,
    ECHO_PIN,
    I2C_SCL,
    I2C_SDA,
    JWT_TOKEN,
    LED1_PIN,
    LED2_PIN,
    LED3_PIN,
    SERVO_PIN,
    TRIG_PIN,
)

# ======== Inisialisasi Hardware ========

# HC-SR04 Ultrasonic
trig = machine.Pin(TRIG_PIN, machine.Pin.OUT)
echo = machine.Pin(ECHO_PIN, machine.Pin.IN)

# Servo (50Hz PWM)
servo_pwm = machine.PWM(machine.Pin(SERVO_PIN), freq=50, duty=0)


def set_servo_angle(angle):
    # Konversi sudut 0–180 ke duty_u16 (0–65535)
    # duty u16 untuk PWM 50 Hz: nilai minimal ~26 untuk 0°, ~115 utk 180°
    duty = int((angle / 180) * (115 - 26) + 26)
    servo_pwm.duty_u16(duty)


# Buzzer (pin digital)
buzzer = machine.Pin(BUZZER_PIN, machine.Pin.OUT)


def buzz(duration_ms=200):
    buzzer.on()
    time.sleep_ms(duration_ms)
    buzzer.off()


# LEDs
led1 = machine.Pin(LED1_PIN, machine.Pin.OUT)  # Open indicator
led2 = machine.Pin(LED2_PIN, machine.Pin.OUT)  # Close indicator
led3 = machine.Pin(LED3_PIN, machine.Pin.OUT)  # Error/status

# SSD1306 OLED via I2C
i2c = machine.I2C(0, scl=machine.Pin(I2C_SCL), sda=machine.Pin(I2C_SDA))
oled = ssd1306.SSD1306_I2C(128, 64, i2c)


def oled_clear():
    oled.fill(0)
    oled.show()


def oled_display(text, line=0):
    # text = string, line = baris 0–7 (font 8px tinggi)
    oled.text(text, 0, line * 8)
    oled.show()


# ======== Fungsi Bantu ========


# Baca jarak ultrasonic (cm)
def read_distance():
    trig.off()
    time.sleep_us(2)
    trig.on()
    time.sleep_us(10)
    trig.off()
    # Tunggu echo naik
    while echo.value() == 0:
        pass
    t1 = time.ticks_us()
    while echo.value() == 1:
        pass
    t2 = machine.time_pulse_us(echo, 1, 30000)  # timeout 30 ms
    # Alternatif jika time_pulse_us tidak tersedia:
    # t2 = time.ticks_us()
    # dist = ((t2 - t1) / 2) / 29.1
    dist = t2 / 58.0  # Rumus HC-SR04 (microseconds → cm)
    return dist


# Kirim HTTP POST ke API
def send_gate_command(action="open"):
    headers = {
        "Content-Type": "application/json",
        "Authorization": "Bearer " + JWT_TOKEN,
    }
    payload = '{"gateId":"G1","action":"%s"}' % action
    try:
        resp = urequests.post(API_URL, data=payload, headers=headers)
        code = resp.status_code
        resp.close()
        return code == 200
    except Exception as e:
        print("HTTP Error:", e)
        return False


# ======== Loop Utama ========


def main():
    state = "closed"
    set_servo_angle(0)  # Pastikan servo di posisi tutup
    led1.off()
    led2.off()
    led3.off()
    oled_clear()
    oled_display("Gate System Ready", 0)

    while True:
        try:
            dist = read_distance()
        except Exception as e:
            print("Sensor Error:", e)
            led3.on()
            oled_clear()
            oled_display("Sensor Error", 0)
            time.sleep(1)
            continue

        # Tampilkan jarak di OLED
        oled_clear()
        oled_display("Distance: %.1f cm" % dist, 0)
        oled_display("State: %s" % state, 1)

        # Logic buka, tutup
        if dist < DIST_OPEN_THRESHOLD and state == "closed":
            oled_display("Opening Gate...", 2)
            success = send_gate_command("open")
            if success:
                set_servo_angle(90)
                led1.on()
                buzz(150)
                state = "open"
                oled_display("Gate Opened", 3)
            else:
                led3.on()
                oled_display("Open Failed", 3)

        elif dist > DIST_CLOSE_THRESHOLD and state == "open":
            oled_display("Closing Gate...", 2)
            success = send_gate_command("close")
            if success:
                set_servo_angle(0)
                led2.on()
                buzz(150)
                state = "closed"
                oled_display("Gate Closed", 3)
            else:
                led3.on()
                oled_display("Close Failed", 3)

        # Matikan LED indikator jika tidak aktif
        if state == "open":
            led2.off()
        else:
            led1.off()

        # jeda 1 detik
        time.sleep(1)


if __name__ == "__main__":
    main()