from machine import Pin, PWM
import time

# ---------------- AUTHENTICATION ----------------
authorized = False

def authenticate_user():
    global authorized

    print("Enter username:")

    try:
        username = input().strip()
    except:
        username = ""

    if username == "admin":
        authorized = True
        print("[ACCESS GRANTED]")
    else:
        authorized = False
        print("[ACCESS DENIED]")


# ---------------- PINS ----------------
servo = PWM(Pin(15))
servo.freq(50)

button = Pin(16, Pin.IN, Pin.PULL_UP)   # Attack
dir_btn = Pin(18, Pin.IN, Pin.PULL_UP)  # Direction
speed_btn = Pin(19, Pin.IN, Pin.PULL_UP) # Speed

led = Pin(17, Pin.OUT)

# ---------------- STATES ----------------
attack_mode = False
fault_detected = False

prev_button_state = 1
prev_dir = 1
prev_speed = 1

direction = 1
speed_delay = 0.05

# ---------------- SERVO ----------------
def set_angle(angle):
    duty = int(1638 + (angle / 180) * 8192)
    servo.duty_u16(duty)

# ---------------- ATTACK ----------------
def trigger_attack():
    global attack_mode
    if not attack_mode:
        attack_mode = True
        print("[ATTACK] Triggered!")

# ---------------- FAULT ----------------
def detect_fault(angle):
    global fault_detected
    if (angle < 20 or angle > 160) and attack_mode:
        fault_detected = True
        print("[FAULT] Abnormal servo behavior detected!")

# ---------------- RECOVERY ----------------
def recover():
    global attack_mode, fault_detected

    print("[RECOVERY] Resetting system...")
    led.value(0)

    set_angle(90)
    time.sleep(1)

    attack_mode = False
    fault_detected = False

    print("[RECOVERY] System restored!")

# ---------------- START AUTH ----------------
authenticate_user()

# ---------------- MAIN LOOP ----------------
while True:

    # -------- BUTTON EDGE DETECTION --------
    current_state = button.value()
    curr_dir = dir_btn.value()
    curr_speed = speed_btn.value()

    # Attack button
    if prev_button_state == 1 and current_state == 0:
        trigger_attack()

    # 🔐 Direction control (protected)
    if prev_dir == 1 and curr_dir == 0:
        if authorized:
            direction *= -1
            print("[CONTROL] Direction:", "Reverse" if direction == -1 else "Forward")
        else:
            print("[SECURITY] Unauthorized user!")

    # 🔐 Speed control (protected)
    if prev_speed == 1 and curr_speed == 0:
        if authorized:
            if speed_delay == 0.05:
                speed_delay = 0.01
            else:
                speed_delay = 0.05
            print("[CONTROL] Speed:", "Fast" if speed_delay == 0.01 else "Normal")
        else:
            print("[SECURITY] Unauthorized user!")

    prev_button_state = current_state
    prev_dir = curr_dir
    prev_speed = curr_speed

    # -------- SYSTEM BEHAVIOR --------
    if attack_mode:

        # LED blinking
        led.value(not led.value())
        time.sleep(0.1)

        # ORIGINAL ATTACK LOGIC
        for angle in [3, 23, 67, 19, 56, 170, 116,82]:
            set_angle(angle)
            print("[ATTACK MODE] Angle:", angle)
            detect_fault(angle)
            time.sleep(0.2)

    else:
        led.value(0)

        # Normal motion with direction + speed
        if direction == 1:
            up_range = range(60, 120, 5)
            down_range = range(120, 60, -5)
        else:
            up_range = range(60, 0, -5)
            down_range = range(0, 60, 5)

        for angle in up_range:
            set_angle(angle)
            print("[NORMAL] Angle:", angle)
            time.sleep(speed_delay)

        for angle in down_range:
            set_angle(angle)
            print("[NORMAL] Angle:", angle)
            time.sleep(speed_delay)

    # -------- FAULT HANDLING --------
    if fault_detected:
        recover()

    time.sleep(0.05)