#include <Arduino.h>
#include <IRremote.hpp>
#include <Wire.h>
#include "RTClib.h"

// --- KONFIGURASI PIN ---
const int PIN_IR_RECEIVER = 2, PIN_LS_OPEN = 5, PIN_LS_CLOSE = 6, PIN_RAIN = 7;
const int PIN_MOTOR_L = 8, PIN_MOTOR_R = 9, PIN_PWM_EN = 10, PIN_CUR_SENSE = A0, PIN_BUZZER = 12;

// --- PARAMETER ---
const int PWM_TARGET = 220;
const int CURRENT_LIMIT = 600;
const long MOVE_TIMEOUT = 25000;
const long RAIN_CONFIRM_TIME = 3000;
const int RAMP_STEP_MS = 15;

enum State { CLOSED, OPENING, OPEN, CLOSING, STOPPED, FAULT };
State currentState = STOPPED;
RTC_DS3231 rtc;

unsigned long moveStartTime = 0, rainStartTime = 0, lastRampMillis = 0;
int currentPWM = 0;
bool rainLock = false;

// --- 0. LOGGING HELPER ---
void logEvent(String msg) {
  DateTime now = rtc.now();
  Serial.print("[");
  if(now.hour() < 10) Serial.print('0'); Serial.print(now.hour()); Serial.print(':');
  if(now.minute() < 10) Serial.print('0'); Serial.print(now.minute()); Serial.print(':');
  if(now.second() < 10) Serial.print('0'); Serial.print(now.second());
  Serial.print("] ");
  Serial.println(msg);
}

// --- 1. LOW LEVEL ACTUATOR ---
void applyHardware(State s, int pwm) {
  if (s == OPENING) {
    digitalWrite(PIN_MOTOR_L, HIGH); digitalWrite(PIN_MOTOR_R, LOW);
  } else if (s == CLOSING) {
    digitalWrite(PIN_MOTOR_L, LOW); digitalWrite(PIN_MOTOR_R, HIGH);
  } else {
    digitalWrite(PIN_MOTOR_L, LOW); digitalWrite(PIN_MOTOR_R, LOW);
    pwm = 0;
  }
  analogWrite(PIN_PWM_EN, pwm);
}

// --- 2. STATE TRANSITION ---
void requestState(State newState) {
  if (currentState == FAULT && newState != STOPPED) return;
  
  if (newState == OPENING && digitalRead(PIN_LS_OPEN) == LOW) {
    logEvent("ERR: Gagal Buka (Limit Atas Tertekan)");
    return;
  }
  if (newState == CLOSING && digitalRead(PIN_LS_CLOSE) == LOW) {
    logEvent("ERR: Gagal Tutup (Limit Bawah Tertekan)");
    return;
  }

  if ((currentState == OPENING && newState == CLOSING) || (currentState == CLOSING && newState == OPENING)) {
    logEvent("WAR: Arah Berlawanan! Cooldown...");
    applyHardware(STOPPED, 0);
    delay(400);
  }

  // Log Perubahan State
  String stateNames[] = {"CLOSED", "OPENING", "OPEN", "CLOSING", "STOPPED", "FAULT"};
  logEvent("STATE: " + stateNames[currentState] + " -> " + stateNames[newState]);

  currentState = newState;
  currentPWM = 0;
  if (currentState == OPENING || currentState == CLOSING) moveStartTime = millis();
}

// --- 3. SYSTEM ENGINE ---
void runEngine() {
  static uint8_t overCurrentCnt = 0;

  if (currentState == OPENING || currentState == CLOSING) {
    if (currentPWM < PWM_TARGET && millis() - lastRampMillis > RAMP_STEP_MS) {
      currentPWM += 5; 
      lastRampMillis = millis();
    }
    applyHardware(currentState, currentPWM);

    if (currentState == OPENING && digitalRead(PIN_LS_OPEN) == LOW) {
      logEvent("INF: Limit Atas Tercapai");
      requestState(OPEN);
    }
    if (currentState == CLOSING && digitalRead(PIN_LS_CLOSE) == LOW) {
      logEvent("INF: Limit Bawah Tercapai");
      requestState(CLOSED);
    }
    
    if (analogRead(PIN_CUR_SENSE) > CURRENT_LIMIT) {
      if (++overCurrentCnt > 10) {
        logEvent("ALM: OVERCURRENT! Arus motor terlalu tinggi.");
        requestState(FAULT);
      }
    } else { overCurrentCnt = 0; }

    if (millis() - moveStartTime > MOVE_TIMEOUT) {
      logEvent("ALM: TIMEOUT! Motor jalan terlalu lama.");
      requestState(FAULT);
    }
  } else {
    applyHardware(currentState, 0);
  }
}

void setup() {
  Serial.begin(9600);
  IrReceiver.begin(PIN_IR_RECEIVER, ENABLE_LED_FEEDBACK);
  if (!rtc.begin()) Serial.println("CRITICAL: RTC tidak terbaca!");
  
  pinMode(PIN_LS_OPEN, INPUT_PULLUP); pinMode(PIN_LS_CLOSE, INPUT_PULLUP);
  pinMode(PIN_RAIN, INPUT_PULLUP);
  pinMode(PIN_MOTOR_L, OUTPUT); pinMode(PIN_MOTOR_R, OUTPUT);
  pinMode(PIN_PWM_EN, OUTPUT); pinMode(PIN_BUZZER, OUTPUT);
  
  logEvent("SYSTEM: Rebooted & Ready");
  requestState(STOPPED);
}

void loop() {
  if (IrReceiver.decode()) {
    uint8_t cmd = IrReceiver.decodedIRData.command;
    Serial.print("IR: CMD 0x"); Serial.println(cmd, HEX);
    if (cmd == 0xE0) requestState(OPENING);
    else if (cmd == 0x90) requestState(CLOSING);
    else if (cmd == 0x68) requestState(STOPPED);
    IrReceiver.resume();
  }

  if (digitalRead(PIN_RAIN) == LOW) {
    if (rainStartTime == 0) rainStartTime = millis();
    if (millis() - rainStartTime > RAIN_CONFIRM_TIME && !rainLock) {
      logEvent("ENV: Hujan Terdeteksi (Confirmed)");
      rainLock = true; requestState(CLOSING);
    }
  } else {
    rainStartTime = 0;
    if (currentState == CLOSED && rainLock) {
      logEvent("ENV: Sensor Kering, Lock Dilepas");
      rainLock = false;
    }
  }

  DateTime now = rtc.now();
  static int lastMin = -1;
  if (now.minute() != lastMin) {
    if (now.hour() == 6 && now.minute() == 0 && currentState == CLOSED && !rainLock) {
      logEvent("SCHED: Jadwal Buka Pagi");
      requestState(OPENING);
    }
    lastMin = now.minute();
  }

  runEngine();
  if (currentState == FAULT) digitalWrite(PIN_BUZZER, (millis() % 200 < 100));
}