import network
import urequests
import socket
import time
from machine import Pin, ADC

# --- Configurare hardware ---

# Joystick pe ADC1 (sigur cu Wi-Fi activ)
vrx = ADC(Pin(34))
vry = ADC(Pin(35))
vrx.atten(ADC.ATTN_11DB)  # Domeniu complet 0-3.3V
vry.atten(ADC.ATTN_11DB)

# Buton (active LOW cu pull-up intern)
button = Pin(33, Pin.IN, Pin.PULL_UP)

# LED de stare (încorporat pe DevKit V1)
led = Pin(2, Pin.OUT)

# --- Constante ---

ROBOT_IP = "http://192.168.4.1"
WIFI_SSID = "ESP32-CAM Robot"
WIFI_PASS = ""

# Praguri zonă moartă (centru ~2048, ±30%)
DEAD_LOW = 1400
DEAD_HIGH = 2700

# Timing (ms)
LOOP_INTERVAL = 20
REPEAT_INTERVAL = 150
DEBOUNCE_TIME = 200

# Direcții
STOP = "stop"
FORWARD = "go"
BACKWARD = "back"
LEFT = "left"
RIGHT = "right"

# --- Stare ---

prev_direction = None
last_command_time = 0
last_button_time = 0
light_on = False
wlan = None


def connect_wifi():
    """Conectează la AP-ul robotului. Clipește LED-ul cât timp caută."""
    global wlan
    wlan = network.WLAN(network.STA_IF)
    wlan.active(True)
    wlan.connect(WIFI_SSID, WIFI_PASS)

    while not wlan.isconnected():
        led.value(not led.value())
        time.sleep_ms(500)

    led.value(1)  # Solid ON = conectat
    print("Connected:", wlan.ifconfig())


def send_command(cmd):
    """Trimite GET la robot fire-and-forget — nu așteaptă răspunsul."""
    print("-> send_command:", cmd)
    try:
        s = socket.socket()
        s.settimeout(0.3)
        s.connect(("192.168.4.1", 80))
        req = "GET /" + cmd + " HTTP/1.1\r\nHost: 192.168.4.1\r\nConnection: close\r\n\r\n"
        s.send(req.encode())
        s.close()
    except Exception as e:
        print("   ERROR:", e)


def read_direction():
    """Citește joystick-ul și întoarce direcția."""
    x = vrx.read()
    y = vry.read()

    dx = x - 2048
    dy = y - 2048

    x_outside = x < DEAD_LOW or x > DEAD_HIGH
    y_outside = y < DEAD_LOW or y > DEAD_HIGH

    print("ADC x={} y={} dx={} dy={} x_out={} y_out={}".format(x, y, dx, dy, x_outside, y_outside))

    if not x_outside and not y_outside:
        return STOP

    # Prioritate: axa cu deflecția mai mare
    if abs(dx) >= abs(dy):
        return LEFT if x < DEAD_LOW else RIGHT
    else:
        return FORWARD if y < DEAD_LOW else BACKWARD


def handle_button():
    """Verifică butonul cu debounce. Comută proiectorul LED."""
    global last_button_time, light_on

    now = time.ticks_ms()
    btn = button.value()
    if btn == 0 and time.ticks_diff(now, last_button_time) > DEBOUNCE_TIME:
        print("BUTTON pressed (raw={})".format(btn))
        last_button_time = now
        light_on = not light_on
        send_command("ledon" if light_on else "ledoff")


def main():
    global prev_direction, last_command_time

    connect_wifi()

    while True:
        if not wlan.isconnected():
            led.value(0)
            connect_wifi()

        now = time.ticks_ms()

        # --- Joystick ---
        direction = read_direction()

        if direction != prev_direction:
            print("DIRECTION change: {} -> {}".format(prev_direction, direction))
            send_command(direction)
            prev_direction = direction
            last_command_time = now
        elif direction != STOP and time.ticks_diff(now, last_command_time) > REPEAT_INTERVAL:
            print("DIRECTION repeat: {}".format(direction))
            send_command(direction)
            last_command_time = now

        # --- Buton ---
        handle_button()

        time.sleep_ms(LOOP_INTERVAL)


main()