#include 
#ifdef ESP32
#include 
#include 
#elif defined(ESP8266)
#include 
#include 
#endif
#include 

#include 
#include 

struct MOTOR_PINS
{
  int pinEn;  
  int pinIN1;
  int pinIN2;    
};

std::vector motorPins = 
{
  {22, 16, 17},  //RIGHT_MOTOR Pins (EnA, IN1, IN2)
  {23, 18, 19},  //LEFT_MOTOR  Pins (EnB, IN3, IN4)
};

#define UP 1
#define DOWN 2
#define LEFT 3
#define RIGHT 4
#define STOP 0

#define RIGHT_MOTOR 0
#define LEFT_MOTOR 1

#define FORWARD 1
#define BACKWARD -1

const int PWMFreq = 1000; /* 1 KHz */
const int PWMResolution = 8;
const int PWMSpeedChannel = 4;

const char* ssid     = "MyWiFiRoBoT";
const char* password = "12345678";

AsyncWebServer server(80);
AsyncWebSocket wsCarInput("/CarInput");

const char* htmlHomePage PROGMEM = R"HTMLHOMEPAGE(


  
  
    
  
  
  
     
    
SUPOTRONIX INDIA
    
WiFi Robot Control
    
    

      

        

        
⇧
        

      
      

        
⇦
        
    
        
⇨
      
      

        

        
⇩
        

      
      

      

      

      

        
Speed:
        

         

            
          
        
      
       
    
  
    
      

)HTMLHOMEPAGE";


void rotateMotor(int motorNumber, int motorDirection)
{
  if (motorDirection == FORWARD)
  {
    digitalWrite(motorPins[motorNumber].pinIN1, HIGH);
    digitalWrite(motorPins[motorNumber].pinIN2, LOW);    
  }
  else if (motorDirection == BACKWARD)
  {
    digitalWrite(motorPins[motorNumber].pinIN1, LOW);
    digitalWrite(motorPins[motorNumber].pinIN2, HIGH);     
  }
  else
  {
    digitalWrite(motorPins[motorNumber].pinIN1, LOW);
    digitalWrite(motorPins[motorNumber].pinIN2, LOW);       
  }
}

void moveCar(int inputValue)
{
  Serial.printf("Got value as %d\n", inputValue);  
  switch(inputValue)
  {

    case UP:
      rotateMotor(RIGHT_MOTOR, FORWARD);
      rotateMotor(LEFT_MOTOR, FORWARD);                  
      break;
  
    case DOWN:
      rotateMotor(RIGHT_MOTOR, BACKWARD);
      rotateMotor(LEFT_MOTOR, BACKWARD);  
      break;
  
    case LEFT:
      rotateMotor(RIGHT_MOTOR, FORWARD);
      rotateMotor(LEFT_MOTOR, BACKWARD);  
      break;
  
    case RIGHT:
      rotateMotor(RIGHT_MOTOR, BACKWARD);
      rotateMotor(LEFT_MOTOR, FORWARD); 
      break;
 
    case STOP:
      rotateMotor(RIGHT_MOTOR, STOP);
      rotateMotor(LEFT_MOTOR, STOP);    
      break;
  
    default:
      rotateMotor(RIGHT_MOTOR, STOP);
      rotateMotor(LEFT_MOTOR, STOP);    
      break;
  }
}

void handleRoot(AsyncWebServerRequest *request) 
{
  request->send_P(200, "text/html", htmlHomePage);
}

void handleNotFound(AsyncWebServerRequest *request) 
{
    request->send(404, "text/plain", "File Not Found");
}

void onCarInputWebSocketEvent(AsyncWebSocket *server, 
                      AsyncWebSocketClient *client, 
                      AwsEventType type,
                      void *arg, 
                      uint8_t *data, 
                      size_t len) 
{                      
  switch (type) 
  {
    case WS_EVT_CONNECT:
      Serial.printf("WebSocket client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());
      break;
    case WS_EVT_DISCONNECT:
      Serial.printf("WebSocket client #%u disconnected\n", client->id());
      moveCar(STOP);
      break;
    case WS_EVT_DATA:
      AwsFrameInfo *info;
      info = (AwsFrameInfo*)arg;
      if (info->final && info->index == 0 && info->len == len && info->opcode == WS_TEXT) 
      {
        std::string myData = "";
        myData.assign((char *)data, len);
        std::istringstream ss(myData);
        std::string key, value;
        std::getline(ss, key, ',');
        std::getline(ss, value, ',');
        Serial.printf("Key [%s] Value[%s]\n", key.c_str(), value.c_str()); 
        int valueInt = atoi(value.c_str());     
        if (key == "MoveCar")
        {
          moveCar(valueInt);        
        }
        else if (key == "Speed")
        {
          ledcWrite(PWMSpeedChannel, valueInt);
        }
      }
      break;
    case WS_EVT_PONG:
    case WS_EVT_ERROR:
      break;
    default:
      break;  
  }
}

void setUpPinModes()
{
  //Set up PWM
  ledcSetup(PWMSpeedChannel, PWMFreq, PWMResolution);
      
  for (int i = 0; i < motorPins.size(); i++)
  {
    pinMode(motorPins[i].pinEn, OUTPUT);    
    pinMode(motorPins[i].pinIN1, OUTPUT);
    pinMode(motorPins[i].pinIN2, OUTPUT);  

    /* Attach the PWM Channel to the motor enb Pin */
    ledcAttachPin(motorPins[i].pinEn, PWMSpeedChannel);
  }
  moveCar(STOP);
}


void setup(void) 
{
  setUpPinModes();
  Serial.begin(115200);

  WiFi.softAP(ssid, password);
  IPAddress IP = WiFi.softAPIP();
  Serial.print("AP IP address: ");
  Serial.println(IP);

  server.on("/", HTTP_GET, handleRoot);
  server.onNotFound(handleNotFound);
      
  wsCarInput.onEvent(onCarInputWebSocketEvent);
  server.addHandler(&wsCarInput);

  server.begin();
  Serial.println("HTTP server started");

}

void loop() 
{
  wsCarInput.cleanupClients(); 
}