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#include <WiFi.h>
#include <WebServer.h>
#include <DNSServer.h>
#include <ESPmDNS.h>

// ===== WiFi / AP Config =====
const char* ssid = "STUG";
const char* password = "";   // open
IPAddress apIP(10, 10, 0, 1);
IPAddress netM(255, 255, 255, 0);

WebServer server(80);
DNSServer dnsServer;

// ===== Motor Pins =====
const int LEFT_POS  = 1;
const int LEFT_NEG  = 0;
const int RIGHT_POS = 20;
const int RIGHT_NEG = 21;

// ===== State =====
String currentCommand = "";
String activeButton = "";
unsigned long lastSend = 0;
const unsigned long sendInterval = 100; // ms

// ===== Web Page (controller) =====
const char webpage[] PROGMEM = R"rawliteral(
<!DOCTYPE html>
<html>
<head>
  <meta charset="utf-8" />
  <meta name="viewport" content="width=device-width, initial-scale=1.0">
  <meta http-equiv="Cache-Control" content="no-store, no-cache, must-revalidate, max-age=0">
  <title>STUG Controller</title>
  <style>
    html,body { height:100%; }
    body { margin:0; display:flex; height:100vh; justify-content:center; align-items:center; background:#111; }
    .grid { display:grid; grid-template-rows: 1fr 1fr 1fr; grid-template-columns: 1fr 1fr 1fr; gap:10px; width:100%; max-width:480px; padding:16px; box-sizing:border-box; }
    button { font-size:2.5rem; width:100%; padding:24px; background:#444; color:#fff; border:none; border-radius:12px; touch-action:none; -webkit-tap-highlight-color: transparent; }
    button:active { background:#777; }
  </style>
</head>
<body>
  <div class="grid">
    <div></div>
    <button ontouchstart="press('forward')" ontouchend="release('forward')" onmousedown="press('forward')" onmouseup="release('forward')" onmouseleave="release('forward')">▲</button>
    <div></div>

    <button ontouchstart="press('left')" ontouchend="release('left')" onmousedown="press('left')" onmouseup="release('left')" onmouseleave="release('left')">◀</button>
    <div></div>
    <button ontouchstart="press('right')" ontouchend="release('right')" onmousedown="press('right')" onmouseup="release('right')" onmouseleave="release('right')">▶</button>

    <div></div>
    <button ontouchstart="press('backward')" ontouchend="release('backward')" onmousedown="press('backward')" onmouseup="release('backward')" onmouseleave="release('backward')">▼</button>
    <div></div>
  </div>
  <script>
    // Use keep-alive OFF to avoid caching/probe weirdness
    const params = { cache: 'no-store', headers: { 'Cache-Control': 'no-store', 'Pragma': 'no-cache', 'Connection': 'close' } };
    function press(cmd)   { fetch("/cmd?c=" + cmd + "&a=down", params); }
    function release(cmd) { fetch("/cmd?c=" + cmd + "&a=up",   params); }
    // Safety: stop if page is hidden (user switches apps)
    document.addEventListener('visibilitychange', () => {
      if (document.hidden) fetch('/cmd?c=safe&a=up', params);
    });
  </script>
</body>
</html>
)rawliteral";

// ===== Util: common headers =====
void addNoCacheClose() {
  server.sendHeader("Cache-Control", "no-store, no-cache, must-revalidate, max-age=0");
  server.sendHeader("Pragma", "no-cache");
  server.sendHeader("Connection", "close");
}

// ===== Serve controller (with host redirect) =====
void serveControllerPage() {
  addNoCacheClose();
  String host = server.hostHeader();
  String ipStr = apIP.toString();
  // If the Host header isn't our IP or mDNS name, force a redirect to our root.
  if (host != ipStr && host != "stug.local") {
    server.sendHeader("Location", String("http://") + ipStr + "/", true);
    server.send(302, "text/plain", "");
    return;
  }
  server.send(200, "text/html", webpage);
}

// ===== Handle button commands =====
void handleCommand() {
  if (server.hasArg("c") && server.hasArg("a")) {
    String c = server.arg("c");
    String a = server.arg("a");
    if (a == "down") {
      activeButton = c;
      currentCommand = c;
    } else if (a == "up") {
      if (activeButton == c) {
        activeButton = "";
        currentCommand = "";
      }
    }
  }
  addNoCacheClose();
  server.send(200, "text/plain", "OK");
}

// ===== Motor Control =====
void setMotors(const String& cmd) {
  if (cmd == "forward") {
    digitalWrite(LEFT_POS, HIGH);  digitalWrite(LEFT_NEG, LOW);
    digitalWrite(RIGHT_POS, HIGH); digitalWrite(RIGHT_NEG, LOW);
  } else if (cmd == "backward") {
    digitalWrite(LEFT_POS, LOW);   digitalWrite(LEFT_NEG, HIGH);
    digitalWrite(RIGHT_POS, LOW);  digitalWrite(RIGHT_NEG, HIGH);
  } else if (cmd == "left") {
    digitalWrite(LEFT_POS, LOW);   digitalWrite(LEFT_NEG, HIGH);
    digitalWrite(RIGHT_POS, HIGH); digitalWrite(RIGHT_NEG, LOW);
  } else if (cmd == "right") {
    digitalWrite(LEFT_POS, HIGH);  digitalWrite(LEFT_NEG, LOW);
    digitalWrite(RIGHT_POS, LOW);  digitalWrite(RIGHT_NEG, HIGH);
  } else {
    digitalWrite(LEFT_POS, LOW);   digitalWrite(LEFT_NEG, LOW);
    digitalWrite(RIGHT_POS, LOW);  digitalWrite(RIGHT_NEG, LOW);
  }
}

// ===== Captive Portal helpers =====
// For all probe endpoints, answer with 200 and small HTML (not 204), to trigger portal.
void captiveOK() {
  addNoCacheClose();
  server.send(200, "text/html",
              "<!doctype html><meta name='viewport' content='width=device-width, initial-scale=1'>"
              "<title>Sign-in</title><p>Redirecting...</p>"
              "<script>location.replace('/');</script>");
}
// For everything else, 302 to root so the address bar is nice.
void redirectToRoot() {
  addNoCacheClose();
  server.sendHeader("Location", String("http://") + apIP.toString() + "/", true);
  server.send(302, "text/plain", "");
}

void setup() {
  Serial.begin(115200);
  delay(400);
  Serial.println("\nBooting...");

  // Motor pin setup
  pinMode(LEFT_POS, OUTPUT);
  pinMode(LEFT_NEG, OUTPUT);
  pinMode(RIGHT_POS, OUTPUT);
  pinMode(RIGHT_NEG, OUTPUT);
  setMotors(""); // stop at startup

  // Wi-Fi AP setup (more deterministic for picky phones)
  WiFi.persistent(false);
  WiFi.mode(WIFI_MODE_AP);
  WiFi.setSleep(false);                         // reliability
  WiFi.softAPConfig(apIP, apIP, netM);
  WiFi.softAP(ssid, password, 1 /*chan*/, 0 /*hidden*/, 4 /*max clients*/);
  delay(150);
  Serial.print("AP IP: "); Serial.println(WiFi.softAPIP());

  // DNS catch-all (lower TTL, no error replies to avoid weird caching)
  dnsServer.setErrorReplyCode(DNSReplyCode::NoError);
  dnsServer.setTTL(0);
  dnsServer.start(53, "*", apIP);

  // mDNS for convenience: http://stug.local
  if (MDNS.begin("stug")) {
    MDNS.addService("http", "tcp", 80);
    Serial.println("mDNS started: http://stug.local");
  } else {
    Serial.println("mDNS start failed (continuing).");
  }

  // Web routes
  server.on("/", HTTP_ANY, serveControllerPage);
  server.on("/cmd", HTTP_ANY, handleCommand);

  // --- Captive portal probe endpoints (serve HTML 200 + JS redirect) ---
  // Google/Android
  server.on("/generate_204", HTTP_ANY, captiveOK);
  server.on("/gen_204", HTTP_ANY, captiveOK);
  // Microsoft/Windows
  server.on("/connecttest.txt", HTTP_ANY, captiveOK);
  server.on("/ncsi.txt", HTTP_ANY, captiveOK);
  // Apple
  server.on("/hotspot-detect.html", HTTP_ANY, captiveOK);
  server.on("/captive.apple.com", HTTP_ANY, captiveOK);
  // Samsung variants (HTTP)
  server.on("/connectivitycheck.txt", HTTP_ANY, captiveOK);
  server.on("/mobile/success.html", HTTP_ANY, captiveOK);
  // Some carriers poke simple roots like "/"
  server.on("/success.txt", HTTP_ANY, captiveOK);

  // Favicon etc. → just redirect to root
  server.on("/favicon.ico", HTTP_ANY, redirectToRoot);

  // Catch-all → 302 to "/"
  server.onNotFound(redirectToRoot);

  server.begin();
  Serial.println("ESP32-C3 Controller Ready!");
}

void loop() {
  dnsServer.processNextRequest();
  server.handleClient();

  // Stream the active command every 100ms
  if (!currentCommand.isEmpty()) {
    unsigned long now = millis();
    if (now - lastSend >= sendInterval) {
      lastSend = now;
      Serial.println(currentCommand);
    }
  }

  // Update motors
  setMotors(currentCommand);

  // Yield to Wi-Fi/stack
  delay(1);
}