#include <Wire.h>
#include <OneWire.h>
#include <DallasTemperature.h>
#include <Stepper.h>

#include "Barrier.cpp";
#include "DistSensor.cpp";
#include "LCDScreen.cpp";
#include "CarSpotController.cpp";
#include "JoyStickController.cpp";
#include "ButtonController.cpp";
#include "EncoderController.cpp";

#define ULTRASONIC_SENSOR_PIN_TRIG 11
#define ULTRASONIC_SENSOR_PIN_ECHO 12
#define SERVO_PIN 10
#define TEMP_SENSOR_PIN 9
#define JOYSTICK_X_PIN A1
#define JOYSTICK_Y_PIN A0
#define BUZZER_PIN 3
#define BUTTON_PIN 8
#define STEPPER_B_MINUS_PIN 6
#define STEPPER_B_PLUS_PIN 5
#define STEPPER_A_PLUS_PIN 4
#define STEPPER_A_MINUS_PIN 2
#define ENCODER_CLK_PIN 7
#define ENCODER_DT_PIN  A2
#define ENCODER_SW_PIN  A3

#define PARK_SLOTS 3
#define STEP_MOTOR_STEPS 200

enum ProgramState {
    CONFIG_MODE,
    APP_MODE
};

OneWire oneWire(TEMP_SENSOR_PIN);
DallasTemperature temperature_sensors(&oneWire);

DistSensor dist_sensor = DistSensor(ULTRASONIC_SENSOR_PIN_TRIG, ULTRASONIC_SENSOR_PIN_ECHO, 25.0);
Barrier barrier = Barrier(SERVO_PIN, 2);
LCDScreen screen = LCDScreen();
CarSpotController car_spot_controller = CarSpotController(PARK_SLOTS);
JoystickController joystick = JoystickController(JOYSTICK_X_PIN, JOYSTICK_Y_PIN);
ButtonController button = ButtonController(BUTTON_PIN);
Stepper stepper(STEP_MOTOR_STEPS, STEPPER_B_MINUS_PIN, STEPPER_B_PLUS_PIN, STEPPER_A_PLUS_PIN, STEPPER_A_MINUS_PIN);
EncoderController encoder = EncoderController(ENCODER_DT_PIN, ENCODER_CLK_PIN,ENCODER_SW_PIN);

unsigned long current_time, sensor_last_time_readed, barrier_last_time_opened, temperature_last_time_measured, joystick_last_time_activated, joystick_last_time_readed, screen_last_time_updated, encoder_last_time_readed;

float temperature_in_c = 0;

ProgramState program_state = CONFIG_MODE;

void setup() {
    Serial.begin(115200);
    dist_sensor.configure_pins();
    barrier.configure_pins();
    temperature_sensors.begin();
    joystick.configure_pins();
    button.configure_pins();
    stepper.setSpeed(60);
    encoder.configure_pins();
    screen.init();
}

void loop() {

    current_time = millis();
    
    switch (program_state){
        case CONFIG_MODE:
            run_config_mode();
            break;
        case APP_MODE:
            run_program();
            break;
    }  
}

void run_config_mode (){
    static bool is_first_time = true;
    if (is_first_time){
        screen.display_configuration_screen(car_spot_controller.get_total_spots());
        is_first_time = false;
    }
    encoder.read();
    if (encoder.rotated_clockwise()){
        if (car_spot_controller.get_total_spots() < 15){
            car_spot_controller.increment_total_spots();
            screen.display_configuration_screen(car_spot_controller.get_total_spots());
        }
    }
    if (encoder.rotated_counterclockwise()){
        if (car_spot_controller.get_total_spots() > 1 && car_spot_controller.get_occupied_spots() < car_spot_controller.get_total_spots()){
            car_spot_controller.decrement_total_spots();
            screen.display_configuration_screen(car_spot_controller.get_total_spots());
        }
    }
    if (encoder.button_pressed()){
        program_state = APP_MODE;
        screen.set_state(0);
        return;
    }       
}

void run_program(){
    
    button.read();
    if (button.is_pressed()){
        barrier_last_time_opened = current_time;
        if (!car_spot_controller.is_empty() && barrier.is_closed()){
            barrier.open();
            stepper.step(STEP_MOTOR_STEPS);
            car_spot_controller.decrement_occupied_spots();
        }
    }

    if (current_time - sensor_last_time_readed >= 1000){
        if (dist_sensor.is_in_range()){ 
            barrier_last_time_opened = current_time;
            if(barrier.is_closed()){
                if (!car_spot_controller.is_full()){
                    barrier.open();
                    car_spot_controller.increment_occupied_spots();
                    stepper.step(STEP_MOTOR_STEPS);
                }else{
                    tone(BUZZER_PIN, 262, 500);
                }
            }
        } else if (!dist_sensor.is_in_range() && barrier.is_open()){
            if (current_time - barrier_last_time_opened >= barrier.open_time_seconds * 1000 && !button.is_pressed()){
                barrier.close();
                stepper.step(-STEP_MOTOR_STEPS);
            }
        }
    }

    if (current_time - temperature_last_time_measured >= 1000){
        temperature_last_time_measured = current_time;
        temperature_sensors.setWaitForConversion(false);
        temperature_sensors.requestTemperatures();
        temperature_in_c = temperature_sensors.getTempCByIndex(0);
    }

    if (joystick.is_moving_right() && current_time - joystick_last_time_activated >= 450){
        joystick_last_time_activated = current_time;
        screen.set_state((screen.get_next_state()));
    }
    if (joystick.is_moving_left() && current_time - joystick_last_time_activated >= 450){
        joystick_last_time_activated = current_time;
        screen.set_state(screen.get_previous_state());
    }

    if (current_time - screen_last_time_updated >= 500){
        screen_last_time_updated = current_time;
        screen.display(temperature_in_c,car_spot_controller.get_total_spots(), car_spot_controller.get_occupied_spots());
    }

    encoder.read();
    if (encoder.button_pressed()){
        program_state = CONFIG_MODE;
        screen.display_configuration_screen(car_spot_controller.get_total_spots());
        return;
    }
}