#include "Windkraftwerk.h"

#define SERVO_PIN 5
#define LED_YELLOW 7
#define LED_RED_1 6
#define LED_RED_2 8
#define SPEED_LEVEL_FAST 1
#define SPEED_LEVEL_SLOW 0

// ===== KONFIGURATION FÜR VARIABLEN ===== //
//  LCD-Display
LiquidCrystal_I2C lcd(0x27, 16, 2);

// IR-Receiver
uint16_t command = 0x404;

// Servo Motor
Servo servo_motor;

// Schrittmotor
const int     steps_per_revolution = 1;                  // Schritte pro Umdrehung
volatile bool motor_running        = false;
unsigned long   speed_intervals_ms[] = {100, 20};         
volatile int  motor_speed_level;                          // Index für das speed_intervals_ms array

Stepper stepper(2048, 4, 1, 2, 0);

// LED
volatile bool      led_yellow_enabled = false;            // LED per default aus
volatile bool      led_red_enabled    = false;
const int          led_interval_ms    = 800;
bool               led_state          = false;            // false == off true == on

// millis()
unsigned long previous_millis_stepper = 0;
unsigned long previous_millis_led     = 0;

//IR
IRrecv irrecv(IR_PIN);
decode_results results;



void handle_ir_command() {
if (IrReceiver.decode()) {
  IrReceiver.resume();
  if (IrReceiver.decodedIRData.address != IR_ADDRESS) return;
    command =  IrReceiver.decodedIRData.command;
    Serial.println(IrReceiver.decodedIRData.command);
      
    }
 
  switch(command) {

    case COMMAND_SPEED_OFF:
      motor_running = false;
      lcd.clear();
      lcd.setCursor(0, 1);
      lcd.print("MOTOR OFF");
    break;

    case COMMAND_SPEED_SLOW:
      motor_running = true;
      motor_speed_level = SPEED_LEVEL_SLOW;
      lcd.clear();
      lcd.setCursor(0, 1);
      lcd.print("MOTOR SLOW");
    break;

    case COMMAND_SPEED_FAST:
      motor_running = true;
      motor_speed_level = SPEED_LEVEL_FAST;
      lcd.clear();
      lcd.setCursor(0, 1);
      lcd.print("MOTOR FAST");
    break;

    case COMMAND_DIRECTION_LEFT:
      servo_motor.write(0);
      lcd.clear();
      lcd.setCursor(0, 1);
      lcd.print("DIRECTION LEFT");
    break;

    case COMMAND_DIRECTION_CENTER:
      servo_motor.write(90);
      lcd.clear();
      lcd.setCursor(0, 1);
      lcd.print("DIRECTION CENTER");
    break;

    case COMMAND_DIRECTION_RIGHT:
      servo_motor.write(180);
      lcd.clear();
      lcd.setCursor(0, 1);
      lcd.print("DIRECTION RIGHT");
    break;

    case COMMAND_LM_OFF: 
      led_yellow_enabled = false;
      led_red_enabled = false;
      lcd.clear();
      lcd.setCursor(0, 1);
      lcd.print("LIGHT OFF");
    break;

    case COMMAND_LM_NORMAL:
      led_yellow_enabled = true;
      led_red_enabled    = false;
      lcd.clear();
      lcd.setCursor(0, 1);
      lcd.print("LIGHT NORMAL");
    break;

    case COMMAND_LM_EMERGENCY:
      led_yellow_enabled = true;
      led_red_enabled    = true;
      lcd.clear();
      lcd.setCursor(0, 1);
      lcd.print("LIGHT EMERGENCY");
    break;

    default:
    return;
    break;
  }
}

void handle_stepper(unsigned long current_millis) {
  if (motor_running == false) {
    return;
  }

  unsigned long motor_interval_ms  = speed_intervals_ms[motor_speed_level];
   if (current_millis - previous_millis_stepper >= motor_interval_ms ) {
   previous_millis_stepper = current_millis;
   stepper.step(1);
   }
}


void handle_led(unsigned long current_millis) {
  if (led_yellow_enabled == false) {
    return;
  }

  if (current_millis - previous_millis_led >= led_interval_ms) {
    previous_millis_led = current_millis;

    if(led_state == true) {
      digitalWrite(LED_YELLOW, LOW);
      digitalWrite(LED_RED_1, LOW);
      digitalWrite(LED_RED_2, LOW);
      led_state = false;
    } else {
      led_state = true;
      digitalWrite(LED_YELLOW, HIGH);

      if (led_red_enabled == true) {
       digitalWrite(LED_RED_1, HIGH);
       digitalWrite(LED_RED_2, HIGH);
      }
    } 
  }
}

void setup() {
  Serial.begin(9600);
  servo_motor.attach(SERVO_PIN);
  servo_motor.write(90);

  //LED
  pinMode(LED_YELLOW, OUTPUT);
  pinMode(LED_RED_1, OUTPUT);
  pinMode(LED_RED_2, OUTPUT);
  digitalWrite(LED_YELLOW, LOW);
  digitalWrite(LED_RED_1, LOW);
  digitalWrite(LED_RED_2, LOW);

  //IR
  IrReceiver.begin(IR_PIN);

  //LCD
  lcd.init();
  lcd.backlight();
  lcd.setCursor(0, 0);

  stepper.setSpeed(20);

  lcd.print("ANLAGE STARTET");
}

void loop(){
  unsigned long current_millis = millis();

  handle_stepper(current_millis);
  handle_led(current_millis);
  handle_ir_command();
}