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#include <ESP8266WiFi.h>
#include <PubSubClient.h>

// WiFi配置
const char* ssid = "你的WiFi名称";
const char* password = "你的WiFi密码";

// MQTT配置
const char* mqtt_server = "broker.emqx.io"; // 或你的MQTT服务器地址
const int mqtt_port = 1883;
const char* mqtt_user = ""; // MQTT用户名(如果需要)
const char* mqtt_password = ""; // MQTT密码(如果需要)

// MQTT主题
const char* control_topic = "smartcar/control";
const char* status_topic = "smartcar/status";

WiFiClient espClient;
PubSubClient client(espClient);

// 电机控制引脚
#define AIN1 D1  // GPIO5
#define AIN2 D2  // GPIO4
#define BIN1 D5  // GPIO14  
#define BIN2 D6  // GPIO12

// 速度控制 (PWM范围0-1023)
int motor_speed = 600;

void setup() {
  Serial.begin(115200);
  
  // 初始化电机控制引脚
  pinMode(AIN1, OUTPUT);
  pinMode(AIN2, OUTPUT);
  pinMode(BIN1, OUTPUT);
  pinMode(BIN2, OUTPUT);
  
  // 停止所有电机
  stop();
  
  setup_wifi();
  client.setServer(mqtt_server, mqtt_port);
  client.setCallback(callback);
}

void loop() {
  if (!client.connected()) {
    reconnect();
  }
  client.loop();
}

void setup_wifi() {
  delay(10);
  Serial.println();
  Serial.print("连接到WiFi: ");
  Serial.println(ssid);

  WiFi.begin(ssid, password);

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

  Serial.println("");
  Serial.println("WiFi已连接");
  Serial.println("IP地址: ");
  Serial.println(WiFi.localIP());
}

void callback(char* topic, byte* payload, unsigned int length) {
  String message = "";
  for (int i = 0; i < length; i++) {
    message += (char)payload[i];
  }
  
  Serial.print("收到消息 [");
  Serial.print(topic);
  Serial.print("]: ");
  Serial.println(message);
  
  // 处理控制命令
  handleControlMessage(message);
}

void reconnect() {
  while (!client.connected()) {
    Serial.print("尝试MQTT连接...");
    
    String clientId = "ESP8266SmartCar-";
    clientId += String(random(0xffff), HEX);
    
    if (client.connect(clientId.c_str(), mqtt_user, mqtt_password)) {
      Serial.println("已连接");
      
      // 订阅控制主题
      client.subscribe(control_topic);
      
      // 发布状态信息
      client.publish(status_topic, "Smart Car Connected");
    } else {
      Serial.print("连接失败, rc=");
      Serial.print(client.state());
      Serial.println(" 5秒后重试");
      delay(5000);
    }
  }
}

void handleControlMessage(String message) {
  message.trim();
  message.toUpperCase();
  
  if (message == "FORWARD" || message == "前进") {
    forward();
    publishStatus("Forward");
  }
  else if (message == "BACKWARD" || message == "后退") {
    backward();
    publishStatus("Backward");
  }
  else if (message == "LEFT" || message == "左转") {
    turnLeft();
    publishStatus("Turn Left");
  }
  else if (message == "RIGHT" || message == "右转") {
    turnRight();
    publishStatus("Turn Right");
  }
  else if (message == "STOP" || message == "停止") {
    stop();
    publishStatus("Stopped");
  }
  else if (message.startsWith("SPEED:")) {
    int new_speed = message.substring(6).toInt();
    if (new_speed >= 0 && new_speed <= 1023) {
      motor_speed = new_speed;
      publishStatus("Speed set to: " + String(motor_speed));
    }
  }
  else if (message == "STATUS" || message == "状态") {
    publishStatus("Ready - Speed: " + String(motor_speed));
  }
}

// 电机控制函数
void forward() {
  analogWrite(AIN1, motor_speed);
  digitalWrite(AIN2, LOW);
  analogWrite(BIN1, motor_speed);
  digitalWrite(BIN2, LOW);
}

void backward() {
  digitalWrite(AIN1, LOW);
  analogWrite(AIN2, motor_speed);
  digitalWrite(BIN1, LOW);
  analogWrite(BIN2, motor_speed);
}

void turnLeft() {
  analogWrite(AIN1, motor_speed);
  digitalWrite(AIN2, LOW);
  digitalWrite(BIN1, LOW);
  analogWrite(BIN2, motor_speed);
}

void turnRight() {
  digitalWrite(AIN1, LOW);
  analogWrite(AIN2, motor_speed);
  analogWrite(BIN1, motor_speed);
  digitalWrite(BIN2, LOW);
}

void stop() {
  digitalWrite(AIN1, LOW);
  digitalWrite(AIN2, LOW);
  digitalWrite(BIN1, LOW);
  digitalWrite(BIN2, LOW);
}

void publishStatus(String status) {
  client.publish(status_topic, status.c_str());
  Serial.println("状态更新: " + status);
}