#include <WiFi.h>
#include <Wire.h>
#include <Adafruit_AMG88xx.h>
#include <Firebase_ESP_Client.h>
#include <ESP32Servo.h>
#include <HTTPClient.h>
#include <ArduinoJson.h>
#include <time.h>

// ====== WiFi ======
#define WIFI_SSID     "POCO F4"
#define WIFI_PASSWORD "87654321"

// ====== Firebase RTDB ======
#define API_KEY        "AIzaSyDgtq_bU0aNjKwErdns50EldaRRSdd5Sg0"
#define DATABASE_URL   "https://hamaguard-e911d-default-rtdb.firebaseio.com"
#define USER_EMAIL     "test@gmail.com"
#define USER_PASSWORD  "123456"

// ====== REST API Endpoint ======
const char* apiEndpoint = "https://service-hama-guard.vercel.app/api/notifikasi";

// ====== Pin ======
#define PIR_PIN     33
#define TRIG_PIN    25
#define ECHO_PIN    26
#define BUZZER_PIN  13
#define SERVO_PIN   32

// ====== Firebase Objects ======
FirebaseData fbdo;
FirebaseAuth auth;
FirebaseConfig config;

// ====== Sensor & Servo ======
Adafruit_AMG88xx amg;
float pixels[AMG88xx_PIXEL_ARRAY_SIZE];
Servo servo;

// ====== Kalibrasi AMG8833 ======
const float amgOffset = 2,94 ; 

// ====== Control Flags ======
bool isAutoMode    = true;
bool isRepellerOn  = false;
String prevMode = "";

// ====== Timing Control ======
unsigned long lastSensorSend = 0;
unsigned long lastNotifSend  = 0;
unsigned long humanBuzzEndTime = 0;
const unsigned long SENSOR_INTERVAL = 1000;
const unsigned long NOTIF_INTERVAL  = 5000;

// ====== Repeller Task Control ======
TaskHandle_t repellerTaskHandle = NULL;
bool repellerActive = false;
unsigned long repellerEndTime = 0;

// ====== FreeRTOS Servo Task ======
void repellerTask(void* parameter) {
  static int pos = 0;
  static bool forward = true;
  const int step = 6;
  const int delayMs = 10;

  while (true) {
    if (repellerActive) {
      digitalWrite(BUZZER_PIN, HIGH);
      servo.write(pos);
      if (forward) {
        pos += step;
        if (pos >= 180) {
          pos = 180;
          forward = false;
        }
      } else {
        pos -= step;
        if (pos <= 0) {
          pos = 0;
          forward = true;
        }
      }
      vTaskDelay(delayMs / portTICK_PERIOD_MS);
    } else {
      digitalWrite(BUZZER_PIN, LOW);
      servo.write(90);
      vTaskDelay(10 / portTICK_PERIOD_MS);
    }
  }
}

void setupTime() {
  configTime(7 * 3600, 0, "pool.ntp.org", "time.nist.gov");
  Serial.print("Sinkronisasi waktu NTP");
  while (time(nullptr) < 8 * 3600 * 2) {
    delay(500);
    Serial.print(".");
  }
  Serial.println(" ✓");
}

String getISO8601Timestamp() {
  time_t now = time(nullptr);
  struct tm timeinfo;
  localtime_r(&now, &timeinfo);
  char buf[30];
  strftime(buf, sizeof(buf), "%Y-%m-%dT%H:%M:%S%z", &timeinfo);
  return String(buf);
}

void setup() {
  Serial.begin(115200);
  delay(500);
  Serial.print("Menghubungkan ke WiFi");

  WiFi.mode(WIFI_STA);
  WiFi.begin(WIFI_SSID, WIFI_PASSWORD);

  int retry = 0;
  while (WiFi.status() != WL_CONNECTED && retry < 20) {
    delay(500);
    Serial.print(".");
    retry++;
  }

  if (WiFi.status() == WL_CONNECTED) {
    Serial.println(" ✓");
    Serial.println("WiFi terhubung ke: " + String(WiFi.SSID()));
    Serial.println("IP Address: " + WiFi.localIP().toString());
  } else {
    Serial.println(" ✗");
    Serial.println("Gagal terhubung ke WiFi. Periksa SSID/Password.");
  }

  setupTime();

  config.api_key = API_KEY;
  config.database_url = DATABASE_URL;
  auth.user.email = USER_EMAIL;
  auth.user.password = USER_PASSWORD;
  Firebase.begin(&config, &auth);
  Firebase.reconnectWiFi(true);

  delay(1000);
  if (Firebase.ready()) {
    Serial.println("Firebase terhubung ✓");
  } else {
    Serial.println("Firebase tidak terhubung ✗");
  }

  pinMode(PIR_PIN, INPUT);
  pinMode(TRIG_PIN, OUTPUT);
  pinMode(ECHO_PIN, INPUT);
  pinMode(BUZZER_PIN, OUTPUT);
  digitalWrite(BUZZER_PIN, LOW);

  servo.attach(SERVO_PIN);
  servo.write(90);

  if (!amg.begin()) {
    Serial.println("Sensor AMG8833 tidak ditemukan!");
    while (1) delay(10);
  } else {
    Serial.println("Sensor AMG8833 berhasil diinisialisasi.");
  }

  xTaskCreatePinnedToCore(repellerTask, "RepellerTask", 2048, NULL, 1, &repellerTaskHandle, 1);
  Serial.println("Setup selesai. Sistem siap berjalan.");
}

String classifyObject(float distance, float maxTemp, int hotGridCount) {
  if ((distance <= 5 && maxTemp >= 41 && hotGridCount >= 9 && hotGridCount <= 14) ||
      (distance <= 10 && maxTemp >= 37-39 && hotGridCount >= 3 && hotGridCount <= 4)) {
    return "burung";
  }
  if ((distance <= 5 && maxTemp >= 36 && maxTemp <= 37 && hotGridCount >= 64) ||
      ((distance >= 10 && distance <= 35) && maxTemp >= 36 && maxTemp <= 28 && hotGridCount >= 12 && hotGridCount <= 30) ||
      (distance <= 30 && maxTemp == 35 && hotGridCount >= 15 && hotGridCount <= 20)) {
    return "manusia";
  }
  if (maxTemp >= 36.0) {
    return "hama_unknown";
  }
  return "tidak_terdeteksi";
}

void loop() {
  if (WiFi.status() != WL_CONNECTED) {
    Serial.println("WiFi terputus. Mencoba reconnect...");
    WiFi.disconnect();
    WiFi.reconnect();
    unsigned long startAttemptTime = millis();
    while (WiFi.status() != WL_CONNECTED && millis() - startAttemptTime < 10000) {
      delay(500);
      Serial.print(".");
    }
    if (WiFi.status() == WL_CONNECTED) {
      Serial.println("\nWiFi berhasil terhubung kembali!");
    } else {
      Serial.println("\nGagal reconnect ke WiFi.");
    }
  }

  unsigned long now = millis();

  if (Firebase.RTDB.getString(&fbdo, "/control/mode")) {
    String mode = fbdo.stringData();
    isAutoMode = (mode == "auto");
    if (mode != prevMode) {
      sendModeChangeNotification(isAutoMode ? "Otomatis" : "Manual");
      prevMode = mode;
    }
  }

  if (Firebase.RTDB.getBool(&fbdo, "/control/repeller")) {
    isRepellerOn = fbdo.boolData();
  }

  if (!isAutoMode) {
    repellerActive = isRepellerOn;
    return;
  }

  amg.readPixels(pixels);
  float maxTemp = -100;
  int hotGridCount = 0;
  for (int i = 0; i < AMG88xx_PIXEL_ARRAY_SIZE; i++) {
    pixels[i] += amgOffset;
    if (pixels[i] > maxTemp) maxTemp = pixels[i];
    if (pixels[i] > 23.0) hotGridCount++;
  }

  bool pirDetected = digitalRead(PIR_PIN) == HIGH;

  digitalWrite(TRIG_PIN, LOW); delayMicroseconds(2);
  digitalWrite(TRIG_PIN, HIGH); delayMicroseconds(10);
  digitalWrite(TRIG_PIN, LOW);
  long duration = pulseIn(ECHO_PIN, HIGH);
  float distance_cm = duration * 0.034 / 2.0;

  String jenis = classifyObject(distance_cm, maxTemp, hotGridCount);
  bool classified = (jenis != "tidak_terdeteksi");

  // === Logika pengusir berdasarkan klasifikasi ===
  if (pirDetected || jenis == "burung" || jenis == "ayam" || jenis == "hama_unknown") {
    repellerActive = true;
    repellerEndTime = millis() + 10000;
  } else if (jenis == "manusia") {
    repellerActive = false;
    digitalWrite(BUZZER_PIN, HIGH);
    humanBuzzEndTime = millis() + 10000;
  }

  if (repellerActive && millis() > repellerEndTime) {
    repellerActive = false;
  }

  if (jenis == "manusia" && millis() > humanBuzzEndTime) {
    digitalWrite(BUZZER_PIN, LOW);
  }

  if (now - lastSensorSend >= SENSOR_INTERVAL) {
    sendSensorData(pirDetected, distance_cm, jenis, maxTemp);
    lastSensorSend = now;
  }

  if ((now - lastNotifSend >= NOTIF_INTERVAL) && classified) {
    sendNotification(jenis, distance_cm, maxTemp);
    lastNotifSend = now;
  }
}

void sendSensorData(bool pir, float dist, String jenis, float maxTemp) {
  if (!Firebase.ready()) return;
  FirebaseJson sensorJson;
  sensorJson.set("pir", pir);
  sensorJson.set("ultrasonik", dist);
  sensorJson.set("jenis_deteksi", jenis);
  sensorJson.set("pengusir", (jenis != "tidak_terdeteksi"));
  sensorJson.set("timestamp", millis());

  FirebaseJson thermalJson;
  FirebaseJsonArray arr;
  for (int i = 0; i < AMG88xx_PIXEL_ARRAY_SIZE; i++) arr.add(pixels[i]);
  thermalJson.set("temperatures", arr);
  thermalJson.set("timestamp", millis());

  Firebase.RTDB.setJSON(&fbdo, "/sensor", &sensorJson);
  Firebase.RTDB.setJSON(&fbdo, "/thermal_data", &thermalJson);
}

void sendNotification(String jenis, float distance, float suhu) {
  HTTPClient http;
  http.begin(apiEndpoint);
  http.addHeader("Content-Type", "application/json");

  DynamicJsonDocument json(512);
  json["type"] = "warning";
  json["title"] = "Deteksi " + jenis;
  json["message"] = "Terdeteksi " + jenis + " pada jarak " + String(distance, 1) + " cm dan suhu maksimum " + String(suhu, 1) + "°C";
  json["timestamp"] = getISO8601Timestamp();

  String requestBody;
  serializeJson(json, requestBody);
  http.POST(requestBody);
  http.end();
}

void sendModeChangeNotification(String mode) {
  HTTPClient http;
  http.begin(apiEndpoint);
  http.addHeader("Content-Type", "application/json");

  DynamicJsonDocument json(512);
  json["type"] = "success";
  json["title"] = "Mode Diganti";
  json["message"] = "Mode sistem diganti menjadi " + mode;
  json["timestamp"] = getISO8601Timestamp();

  String body;
  serializeJson(json, body);
  http.POST(body);
  http.end();
}