import network
import time
import ujson
from machine import Pin
from umqtt.simple import MQTTClient

# =========================
# WIFI
# =========================

SSID = "Wokwi-GUEST"
PASSWORD = ""

# =========================
# THINGSBOARD
# =========================

THINGSBOARD_HOST = "thingsboard.cloud"
ACCESS_TOKEN = "yBa31inQF6yYOWLf0603"

CLIENT_ID = "3b9ac790-3347-11f1-b174-255c03e1b993"

# =====================
# STEPPER PINS
# =====================

STEP = Pin(14, Pin.OUT)
DIR = Pin(12, Pin.OUT)

# =====================
# WIFI
# =====================

wifi = network.WLAN(network.STA_IF)
wifi.active(True)
wifi.connect(SSID, PASSWORD)

print("Connecting WiFi...")

while not wifi.isconnected():
    time.sleep(0.5)

print("WiFi Connected")

# =====================
# MOTOR FUNCTION
# =====================

def move_motor(steps, direction, delay_us=1000):

    DIR.value(direction)

    for _ in range(steps):
        STEP.value(1)
        time.sleep_us(delay_us)

        STEP.value(0)
        time.sleep_us(delay_us)

# =====================
# RPC CALLBACK
# =====================

def rpc_callback(topic, msg):

    try:

        data = ujson.loads(msg)

        print(data)

        if data["method"] == "rpcCommand":

            rpc = data["params"]

            method = rpc["method"]
            params = rpc["params"]

            if method == "move":

                steps = int(params.get("steps", 200))
                direction = int(params.get("direction", 1))
                speed = int(params.get("speed", 500))

                print("Move:", steps, direction, speed)

                DIR.value(direction)

                for i in range(steps):
                    STEP.value(1)
                    time.sleep_us(speed)
                    STEP.value(0)
                    time.sleep_us(speed)

            elif method == "cw":

                DIR.value(1)

                for i in range(200):
                    STEP.value(1)
                    time.sleep_us(500)
                    STEP.value(0)
                    time.sleep_us(500)

            elif method == "ccw":

                DIR.value(0)

                for i in range(200):
                    STEP.value(1)
                    time.sleep_us(500)
                    STEP.value(0)
                    time.sleep_us(500)

    except Exception as e:
        print("ERROR:", e)

# =====================
# MQTT
# =====================

client = MQTTClient(
    "esp32-stepper",
    THINGSBOARD_HOST,
    user=ACCESS_TOKEN,
    password=""
)

client.set_callback(rpc_callback)

print("Connecting ThingsBoard...")
client.connect()

print("Connected")

client.subscribe(
    b"v1/devices/me/rpc/request/+"
)

print("Subscribed")

# =====================
# MAIN LOOP
# =====================

while True:

    try:
        client.check_msg()
        time.sleep_ms(100)

    except Exception as e:
        print("MQTT Error:", e)
        time.sleep(5)