#include <LCDWIKI_GUI.h> //Core graphics library
#include <LCDWIKI_SPI.h> //Hardware-specific library
#include <SPI.h>
#include <MFRC522.h>

#define RST_PIN         5          // Configurable, see typical pin layout above
#define SS_PIN          53         // Configurable, see typical pin layout above

#define MODEL ILI9225
#define CS   A5
#define CD   A3
#define RST  A4
#define SDA  A2
#define SCK  A1
#define LED  -1

#define BLACK   0x0000
#define BLUE    0x001F
#define RED     0xF800
#define GREEN   0x07E0
#define CYAN    0x07FF
#define MAGENTA 0xF81F
#define YELLOW  0xFFE0
#define WHITE   0xFFFF

unsigned long uidDec, uidDecTemp;  // для храниения номера метки в десятичном формате
bool ardReady = true;
String data;
int answer = -1024;
int redLED = 4;
int yellowLED = 6;
int greenLED = 7;
int motorPin1 = 8;
int motorPin2 = 9;
int motorPin3 = 10;
int motorPin4 = 11;
int delayTime = 2;
int forward = 6;
int back = 7;
int scan1 = 0;
int scan2 = 0;
bool driverFlag = true;
bool answerFlag = false;
int counter = 0;
bool checker = true;

LCDWIKI_SPI mylcd(MODEL,CS,CD,-1,SDA,RST,SCK,LED);
MFRC522 mfrc522(SS_PIN, RST_PIN);  // Create MFRC522 instance

void setup() {
  Serial.begin(115200);   // Initialize serial communications with the PC
  while (!Serial);    // Do nothing if no serial port is opened (added for Arduinos based on ATMEGA32U4)
  SPI.begin();      // Init SPI bus
  mfrc522.PCD_Init();   // Init MFRC522
  mylcd.Init_LCD();
  mylcd.Set_Text_Mode(0);
  mylcd.Fill_Screen(WHITE);
  mylcd.Set_Text_colour(BLACK);
  mylcd.Set_Text_Back_colour(WHITE);
  mylcd.Set_Rotation(1);
  pinMode(motorPin1, OUTPUT);
  pinMode(motorPin2, OUTPUT);
  pinMode(motorPin3, OUTPUT);
  pinMode(motorPin4, OUTPUT);
}

void turnByNum(int num) {
  if (num == 0) {
    digitalWrite(motorPin1, LOW);
    digitalWrite(motorPin2, LOW);
    digitalWrite(motorPin3, LOW);
    digitalWrite(motorPin4, LOW);
  }
  if (num == 1) {
    digitalWrite(motorPin1, HIGH);
    digitalWrite(motorPin2, LOW);
    digitalWrite(motorPin3, LOW);
    digitalWrite(motorPin4, LOW);
  }
 if (num == 2) {
    digitalWrite(motorPin1, LOW);
    digitalWrite(motorPin2, HIGH);
    digitalWrite(motorPin3, LOW);
    digitalWrite(motorPin4, LOW);
  }
 if (num == 3) {
    digitalWrite(motorPin1, LOW);
    digitalWrite(motorPin2, LOW);
    digitalWrite(motorPin3, HIGH);
    digitalWrite(motorPin4, LOW);
  }
  if (num == 4) {
    digitalWrite(motorPin1, LOW);
    digitalWrite(motorPin2, LOW);
    digitalWrite(motorPin3, LOW);
    digitalWrite(motorPin4, HIGH);
  }
  delay(2);
}

void scanTurn(){

  if (driverFlag){
    scan2 = analogRead(back);
    if (scan2 > 100){
      turnByNum(1);
      turnByNum(2);
      turnByNum(3);
      turnByNum(4);
    } else {
     driverFlag = false;
      turnByNum(0);
      //return;
    }
  }
}

void turnLeft(){
  turnByNum(1);
  turnByNum(2);
  turnByNum(3);
  turnByNum(4);
}

void turnRight(){
  turnByNum(1);
  turnByNum(4);
  turnByNum(3);
  turnByNum(2);
}

void clear_screen(void)
{
   delay(2000);
   mylcd.Set_Draw_color(WHITE);
   mylcd.Fill_Rectangle(1, 12, mylcd.Get_Display_Width()-2, mylcd.Get_Display_Height()-1-12);
}

void presentWaitText(){
  clear_screen();
  checker = true;
  digitalWrite(yellowLED, HIGH);
  digitalWrite(greenLED, LOW);
  digitalWrite(redLED, LOW);
  mylcd.Set_Text_Size(3);
  mylcd.Print_String("BCTABbTE",CENTER, 73);
  mylcd.Print_String("KAPTy", CENTER, 103);
}

void presentReadingText(){
  clear_screen();
  digitalWrite(yellowLED, LOW);
  mylcd.Set_Text_Size(3);
  mylcd.Print_String("4TEHUE",CENTER, 88);
}

void presentReadingCardText(){
  clear_screen();
  digitalWrite(yellowLED, LOW);
  mylcd.Set_Text_Size(3);
  mylcd.Print_String("4TEHUE",CENTER, 73);
  mylcd.Print_String("KAPTbI", CENTER, 103);
}

void presentNotReadingCardText(){
  clear_screen();
  digitalWrite(yellowLED, LOW);
  mylcd.Set_Text_Size(3);
  mylcd.Print_String("KAPTA",CENTER, 58);
  mylcd.Print_String("HE", CENTER, 88);
  mylcd.Print_String("PA3nO3HAHA", CENTER, 118);
}

void presentDataText(){
  clear_screen();
  digitalWrite(yellowLED, LOW);
  mylcd.Set_Text_Size(3);
  mylcd.Print_String("OTBET",CENTER,15);
  mylcd.Print_Number_Int(answer, CENTER, 88, 0, ' ',10);

}

void rfid_scan(){

if ( ! mfrc522.PICC_IsNewCardPresent()) {
      return;
    }
    if ( ! mfrc522.PICC_ReadCardSerial()) {
      return;
    }

   uidDec = 0;
    // Выдача серийного номера метки.
    for (byte i = 0; i < mfrc522.uid.size; i++)
    {
      uidDecTemp = mfrc522.uid.uidByte[i];
      uidDec = uidDec * 256 + uidDecTemp;
    }

    Serial.println(uidDec); // Выводим UID метки в консоль.
    delay(1000);
    if(Serial.available()){
      if (!answerFlag)
      while (answer == -1024) {
      data = Serial.readString();
      answer = data.toInt();
      }
      delay(5000);
      answerFlag = true;
    delay(500);
}
}

void presentAccess(int days) {
  mylcd.Print_String("nponyck",CENTER, 43);
  mylcd.Set_Text_Size(2);
  mylcd.Print_String("DEUCTByET", CENTER, 73);
  mylcd.Set_Text_Size(3);
  mylcd.Print_Number_Int(days, CENTER, 103, 0, ' ',10);
  mylcd.Set_Text_Size(2);
  mylcd.Print_String("DHEU", CENTER, 133);
}

void presentDenied(int days) {
  mylcd.Print_String("nponyck",CENTER, 43);
  mylcd.Set_Text_Size(2);
  mylcd.Print_String("HE DEUCTByET", CENTER, 73);
  mylcd.Set_Text_Size(3);
  mylcd.Print_Number_Int(days, CENTER, 103, 0, ' ',10);
  mylcd.Set_Text_Size(2);
  mylcd.Print_String("DHEU", CENTER, 133);
}

void loop()
{

  if (ardReady) {
  ardReady = false;
  presentWaitText();
  }
  scan1 = analogRead(forward);
  if (scan1 < 500) {

    presentReadingText();
    while (driverFlag){
      scanTurn();
    }
    if (!driverFlag){
    presentReadingCardText();
    if (answer == -1024){
    rfid_scan();
    }
    if (answerFlag){
   driverFlag = true;
   if (answer >= 0 && answer < 1024 ){

   answerFlag = false;
   digitalWrite(greenLED, HIGH);
   digitalWrite(redLED, LOW);

   counter = 0;
   clear_screen();
   presentAccess(answer);
    answer = -1024;
   while (counter < 1000){
    counter ++;
   turnRight();
   }
   ardReady = true;
   checker = false;
   }
   if (answer < 0 && checker) {
     counter = 0;
   answer = abs(answer);
   clear_screen();
   presentDenied(answer);
   answerFlag = false;
   digitalWrite(redLED, HIGH);
   digitalWrite(greenLED, LOW);
   while (counter < 1000){
    counter ++;
   turnLeft();
   }
   ardReady = true;
    answer = -1024;
   }
   if (answer >= 1024) {
    clear_screen();
    presentNotReadingCardText();
    answer = -1024;
    answerFlag = false;
     counter = 0;
      digitalWrite(redLED, HIGH);
       digitalWrite(greenLED, LOW);
      while (counter < 1000){
      counter ++;
      turnRight();
   }
   ardReady = true;
   answer = -1024;
   answerFlag = false;
   checker = false;
   }
    }
  }
  } else {

    ardReady = true;
  }

}