#include <ArduinoWebsockets.h>
#include <WiFi.h>
#include <ESPAsyncWebServer.h>
#include "esp_camera.h"
#include "soc/soc.h"
#include "soc/rtc_cntl_reg.h""NSA";
const char* password = "orange";

#define PWDN_GPIO_NUM     32
#define RESET_GPIO_NUM    -1
#define XCLK_GPIO_NUM      0
#define SIOD_GPIO_NUM     26
#define SIOC_GPIO_NUM     27
#define Y9_GPIO_NUM       35
#define Y8_GPIO_NUM       34
#define Y7_GPIO_NUM       39
#define Y6_GPIO_NUM       36
#define Y5_GPIO_NUM       21
#define Y4_GPIO_NUM       19
#define Y3_GPIO_NUM       18
#define Y2_GPIO_NUM        5
#define VSYNC_GPIO_NUM    25
#define HREF_GPIO_NUM     23
#define PCLK_GPIO_NUM     22

camera_fb_t * fb = NULL;

using namespace websockets;
WebsocketsServer WSserver;
AsyncWebServer webserver(80);

// Arduino like analogWrite
// value has to be between 0 and valueMax
void ledcAnalogWrite(uint8_t channel, uint32_t value, uint32_t valueMax = 180) {
  // calculate duty, 8191 from 2 ^ 13 - 1
  uint32_t duty = (8191 / valueMax) * min(value, valueMax);
  ledcWrite(channel, duty);
}

void setup() {
  WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); //disable brownout detector
  Serial.begin(115200);
  // Ai-Thinker: pins 2 and 12
  ledcSetup(2, 50, 16); //channel, freq, resolution
  ledcAttachPin(2, 2); // pin, channel
  ledcSetup(4, 50, 16);
  ledcAttachPin(12, 4);

  camera_config_t config;
  config.ledc_channel = LEDC_CHANNEL_0;
  config.ledc_timer = LEDC_TIMER_0;
  config.pin_d0 = Y2_GPIO_NUM;
  config.pin_d1 = Y3_GPIO_NUM;
  config.pin_d2 = Y4_GPIO_NUM;
  config.pin_d3 = Y5_GPIO_NUM;
  config.pin_d4 = Y6_GPIO_NUM;
  config.pin_d5 = Y7_GPIO_NUM;
  config.pin_d6 = Y8_GPIO_NUM;
  config.pin_d7 = Y9_GPIO_NUM;
  config.pin_xclk = XCLK_GPIO_NUM;
  config.pin_pclk = PCLK_GPIO_NUM;
  config.pin_vsync = VSYNC_GPIO_NUM;
  config.pin_href = HREF_GPIO_NUM;
  config.pin_sscb_sda = SIOD_GPIO_NUM;
  config.pin_sscb_scl = SIOC_GPIO_NUM;
  config.pin_pwdn = PWDN_GPIO_NUM;
  config.pin_reset = RESET_GPIO_NUM;
  config.xclk_freq_hz = 20000000;
  config.pixel_format = PIXFORMAT_JPEG;
  //init with high specs to pre-allocate larger buffers
  if (psramFound()) {
    config.frame_size = FRAMESIZE_UXGA;
    config.jpeg_quality = 10;
    config.fb_count = 2;
  } else {
    config.frame_size = FRAMESIZE_SVGA;
    config.jpeg_quality = 12;
    config.fb_count = 1;
  }

  // camera init
  esp_err_t err = esp_camera_init(&config);
  if (err != ESP_OK) {
    Serial.printf("Camera init failed with error 0x%x", err);
    return;
  }

  sensor_t * s = esp_camera_sensor_get();
  s->set_framesize(s, FRAMESIZE_QVGA);

  WiFi.mode(WIFI_STA);
  WiFi.begin(ssid, password);

  // Wait for connection
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }

  Serial.println("");
  Serial.print("Connected to ");
  Serial.print("IP address: ");
  Serial.println(WiFi.localIP());

  webserver.on("/", HTTP_GET, [](AsyncWebServerRequest * request) {
    AsyncWebServerResponse *response = request->beginResponse_P(200, "text/html", index_html_gz, sizeof(index_html_gz));
    response->addHeader("Content-Encoding", "gzip");
    request->send(response);
  });

  webserver.begin();
  WSserver.listen(82);
}


void handle_message(WebsocketsMessage msg) {
  int commaIndex = msg.data().indexOf(',');
  int panValue = msg.data().substring(0, commaIndex).toInt();
  int tiltValue = msg.data().substring(commaIndex + 1).toInt();

  panValue = map(panValue, -90, 90, 0, 180); // 0-180
  tiltValue = map(tiltValue, -90, 90, 180, 0); // 0-180 reversed

  ledcAnalogWrite(2, panValue); // channel, value
  ledcAnalogWrite(4, tiltValue);
}

void loop() {
  auto client = WSserver.accept();
  client.onMessage(handle_message);
  while (client.available()) {
    client.poll();
    fb = esp_camera_fb_get();
    client.sendBinary((const char *)fb->buf, fb->len);
    esp_camera_fb_return(fb);
    fb = NULL;
  }
}