/*
 Stepper Motor Control - one revolution

 This program drives a unipolar or bipolar stepper motor.
 The motor is attached to digital pins 8 - 11 of the Arduino.

 The motor should revolve one revolution in one direction, then
 one revolution in the other direction.


 Created 11 Mar. 2007
 Modified 30 Nov. 2009
 by Tom Igoe

 */

#include <Preferences.h>
#include <AccelStepper.h>
#include <MultiStepper.h>

#include <WiFi.h>

const int stepsPerRevolution = 2*2*1600;  // change this to fit the number of steps per revolution
// for your motor
const float lead = 3.0; // Steigung in mm

// PINs
const unsigned int STEPPER_1_PULSE_GPIO = 25;
const unsigned int STEPPER_1_DIR_GPIO = 33;

const unsigned int STEPPER_2_PULSE_GPIO = 99;
const unsigned int STEPPER_2_DIR_GPIO = 99;

const int butten_down_up_analog_read = 34;
const int led_gpio = 32;
const int button_down_gpio = 35;
const int button_up_gpio = 34;
const int relais_gpio = 13;
const int wifi_btn_gpio = 14;

const int power_led_gpio = 27;

// power relais control
long power_off_timer = 0;
const long power_off_timeout  = 5*1000;  // switch off power after 3 seconds

bool power_enabled = false;


// stepper positions / dir / endstops
long current_stepper_position = 0; // must be loaded from persisted data; reseted by endstop(s)


////////// WIFI Krempel
// Replace with your network credentials
const char* ssid     = "ESP32-Access-Point";
const char* password = "123456789";

// Set web server port number to 80
WiFiServer server(80);

// Variable to store the HTTP request
String header;


// Auxiliar variables to store the current output state
String output26State = "off";
String output27State = "off";

// Assign output variables to GPIO pins
const int output26 = 26;
const int output27 = 27;
////////// WIFI Krempel


///// Persisted Data (Preferences)
Preferences preferences;



//struct PersistedData{
//  long last_position;
//  int initialized_magic_number;  // set to a predifend value AFTER initialization of memory was done, indicating successfull initialization
//  char ssid[64];
//  char wifi_pw[32];
//};


void load_persisted_data(){
  
  //EEPROM.get( eeAddress, p_data );
  Serial.println( "Read custom object from EEPROM: " );
  Serial.println( preferences.getLong("last_position") );
  Serial.println( preferences.getInt("initialized_magic_number") );
  Serial.println( preferences.getString("ssid") );
  Serial.println( preferences.getString("wifi_pw") );
}

void calibrate(){
  
}

// initialize the stepper library on pins 8 through 11:
//Stepper myStepper(stepsPerRevolution, 8, 9, 10, 11);
//Stepper myStepper(stepsPerRevolution, stepper_1_pulse_gpio, stepper_1_dir_gpio);

AccelStepper stepper1(AccelStepper::DRIVER, STEPPER_1_PULSE_GPIO, STEPPER_1_DIR_GPIO);
AccelStepper stepper2(AccelStepper::DRIVER, STEPPER_2_PULSE_GPIO, STEPPER_2_DIR_GPIO);
// Up to 10 steppers can be handled as a group by MultiStepper
MultiStepper steppers;

void setup_steppers(){
  // set the speed at 60 rpm:
  //myStepper.setSpeed(120); 
  
  // Configure each stepper
  stepper1.setMaxSpeed(stepsPerRevolution);
  stepper2.setMaxSpeed(stepsPerRevolution);
  // Then give them to MultiStepper to manage
  steppers.addStepper(stepper1);
  steppers.addStepper(stepper2);
}

void setup() {
  preferences.begin("hvst", false);
  load_persisted_data();
  setup_steppers();
  pinMode(led_gpio, OUTPUT);
  pinMode(power_led_gpio, OUTPUT);
  //pinMode(button_down_gpio, INPUT_PULLDOWN);  // for analog read not required
  //pinMode(button_up_gpio, INPUT_PULLDOWN);  // for analog read not required
  pinMode(relais_gpio, OUTPUT); 
  pinMode(wifi_btn_gpio, INPUT);
  disable_power();
   
  // initialize the serial port:
  Serial.begin(115200);
}


void do_test(){
  Serial.print("Setting LED to LOW");
  digitalWrite(power_led_gpio, LOW);
  delay(5000);
  Serial.print("Setting LED to HIGH");
  digitalWrite(power_led_gpio, HIGH);
  delay(5000);
  
}

void setup_wifi_ap(){
  // Connect to Wi-Fi network with SSID and password
  Serial.print("Setting AP (Access Point)…");
  // Remove the password parameter, if you want the AP (Access Point) to be open
  WiFi.softAP(ssid, password);

  IPAddress IP = WiFi.softAPIP();
  Serial.print("AP IP address: ");
  Serial.println(IP);
    
  server.begin();
}

void move_x_mm(int x) {
  digitalWrite(led_gpio, HIGH); 
  Serial.println(x);
  Serial.println(x/lead);
  //myStepper.step(x/lead*stepsPerRevolution);
  long steps = x/lead*stepsPerRevolution;
  current_stepper_position + steps;
  long positions[2];
  positions[0] = current_stepper_position;
  positions[1] = current_stepper_position;
  steppers.moveTo(positions);
  steppers.runSpeedToPosition();  //  blocking call; alternative might be just run...
  digitalWrite(led_gpio, LOW); 
}

void enable_power() {
  if(!power_enabled) {
    digitalWrite(relais_gpio, HIGH); 
    digitalWrite(power_led_gpio, HIGH); 
    Serial.println("enable relais");
    delay(500);
    power_enabled = true;
  }
  power_off_timer = millis();
}
void disable_power() {
  Serial.println("disable relais");
  digitalWrite(relais_gpio, LOW); 
  digitalWrite(power_led_gpio, LOW); 
  power_enabled = false;
}

void _test_stepper(){
  //Wdo_test();
  //listen_for_wifi_client();
  //enable_power();
  //delay(2000);
  move_x_mm(10*3);
  //disable_power();
  delay(3000);
  move_x_mm(-3*10);
  delay(3000);
  
}

void loop() {
  Serial.println("load_persisted_data();");
  load_persisted_data();
  Serial.println("data loaded;");
  delay(1000);
  //_test_stepper();

  long positions[2]; // Array of desired stepper positions
  
  positions[0] = 1000;
  positions[1] = 50;
  steppers.moveTo(positions);
  steppers.runSpeedToPosition(); // Blocks until all are in position
  delay(1000);
  

  if(millis() > power_off_timer + power_off_timeout && power_enabled){
    disable_power();
  }

  int up_down_btn_val = analogRead(butten_down_up_analog_read);
  
  
  //delay(100); 
  if (up_down_btn_val > 150 && up_down_btn_val < 300) {
        enable_power();
        move_x_mm(2);
  }
  else if (up_down_btn_val > 1800 && up_down_btn_val < 2050) {
        enable_power();
        move_x_mm(-2);
  }
  else if (up_down_btn_val > 0) {
    char format[] = "Btn Val=\"%d\"";
    char txt[50] = "";
    sprintf(txt,format,up_down_btn_val);
    Serial.println(txt);  
  }
  
  int up_button_state = digitalRead(button_up_gpio);
  //Serial.println(up_button_state);
  if ( up_button_state == HIGH )
  { 
    enable_power();
    move_x_mm(2);
  }
  else 
  {
    
    //disable_power();
  }
  int down_button_state = digitalRead(button_down_gpio);
  //Serial.println(down_button_state);
  if ( down_button_state == HIGH )
  { 
    enable_power();
    move_x_mm(-2);
  }
  else 
  {
    //disable_power();
  }
  //delay(10);

  /*
  Serial.println("on");
  digitalWrite(led_gpio, HIGH);   // turn the LED on (HIGH is the voltage level)
  delay(1000);                       // wait for a second
  Serial.println("off");
  digitalWrite(led_gpio, LOW);    // turn the LED off by making the voltage LOW
  delay(1000);                       // wait for a second
  */

  /*
  // step one revolution  in one direction:
  Serial.println("clockwise");
  //myStepper.step(3*stepsPerRevolution);
  move_x_mm(10);
  delay(2500);

  // step one revolution in the other direction:
  Serial.println("counterclockwise");
  //myStepper.step(-stepsPerRevolution);
  move_x_mm(-10);
  delay(2500);
  */

/*
  int wifi_btn_state = digitalRead(wifi_btn_gpio);
  if ( wifi_btn_state == HIGH )
  { 
     digitalWrite(led_gpio, HIGH); 
     delay(200);
     digitalWrite(led_gpio, LOW); 
     delay(200);
     digitalWrite(led_gpio, HIGH); 
     delay(200);
     digitalWrite(led_gpio, LOW); 
     delay(200);
     digitalWrite(led_gpio, HIGH); 
     delay(200);
     digitalWrite(led_gpio, LOW); 
     setup_wifi_ap();
  }
  */
  
}

void listen_for_wifi_client(){
  WiFiClient client = server.available();   // Listen for incoming clients

  if (client) {                             // If a new client connects,
    Serial.println("New Client.");          // print a message out in the serial port
    String currentLine = "";                // make a String to hold incoming data from the client
    while (client.connected()) {            // loop while the client's connected
      if (client.available()) {             // if there's bytes to read from the client,
        char c = client.read();             // read a byte, then
        Serial.write(c);                    // print it out the serial monitor
        header += c;
        if (c == '\n') {                    // if the byte is a newline character
          // if the current line is blank, you got two newline characters in a row.
          // that's the end of the client HTTP request, so send a response:
          if (currentLine.length() == 0) {
            // HTTP headers always start with a response code (e.g. HTTP/1.1 200 OK)
            // and a content-type so the client knows what's coming, then a blank line:
            client.println("HTTP/1.1 200 OK");
            client.println("Content-type:text/html");
            client.println("Connection: close");
            client.println();
            
            // turns the GPIOs on and off
            if (header.indexOf("GET /26/on") >= 0) {
              Serial.println("GPIO 26 on");
              output26State = "on";
              digitalWrite(output26, HIGH);
            } else if (header.indexOf("GET /26/off") >= 0) {
              Serial.println("GPIO 26 off");
              output26State = "off";
              digitalWrite(output26, LOW);
            } else if (header.indexOf("GET /27/on") >= 0) {
              Serial.println("GPIO 27 on");
              output27State = "on";
              digitalWrite(output27, HIGH);
            } else if (header.indexOf("GET /27/off") >= 0) {
              Serial.println("GPIO 27 off");
              output27State = "off";
              digitalWrite(output27, LOW);
            }
            
            // Display the HTML web page
            client.println("<!DOCTYPE html><html>");
            client.println("<head><meta name=\"viewport\" content=\"width=device-width, initial-scale=1\">");
            client.println("<link rel=\"icon\" href=\"data:,\">");
            // CSS to style the on/off buttons 
            // Feel free to change the background-color and font-size attributes to fit your preferences
            client.println("<style>html { font-family: Helvetica; display: inline-block; margin: 0px auto; text-align: center;}");
            client.println(".button { background-color: #4CAF50; border: none; color: white; padding: 16px 40px;");
            client.println("text-decoration: none; font-size: 30px; margin: 2px; cursor: pointer;}");
            client.println(".button2 {background-color: #555555;}</style></head>");
            
            // Web Page Heading
            client.println("<body><h1>ESP32 Web Server</h1>");
            
            // Display current state, and ON/OFF buttons for GPIO 26  
            client.println("<p>GPIO 26 - State " + output26State + "</p>");
            // If the output26State is off, it displays the ON button       
            if (output26State=="off") {
              client.println("<p><a href=\"/26/on\"><button class=\"button\">ON</button></a></p>");
            } else {
              client.println("<p><a href=\"/26/off\"><button class=\"button button2\">OFF</button></a></p>");
            } 
               
            // Display current state, and ON/OFF buttons for GPIO 27  
            client.println("<p>GPIO 27 - State " + output27State + "</p>");
            // If the output27State is off, it displays the ON button       
            if (output27State=="off") {
              client.println("<p><a href=\"/27/on\"><button class=\"button\">ON</button></a></p>");
            } else {
              client.println("<p><a href=\"/27/off\"><button class=\"button button2\">OFF</button></a></p>");
            }
            client.println("</body></html>");
            
            // The HTTP response ends with another blank line
            client.println();
            // Break out of the while loop
            break;
          } else { // if you got a newline, then clear currentLine
            currentLine = "";
          }
        } else if (c != '\r') {  // if you got anything else but a carriage return character,
          currentLine += c;      // add it to the end of the currentLine
        }
      }
    }
    // Clear the header variable
    header = "";
    // Close the connection
    client.stop();
    Serial.println("Client disconnected.");
    Serial.println("");
  }
}