/**
 * The MySensors Arduino library handles the wireless radio link and protocol
 * between your home built sensors/actuators and HA controller of choice.
 * The sensors forms a self healing radio network with optional repeaters. Each
 * repeater and gateway builds a routing tables in EEPROM which keeps track of the
 * network topology allowing messages to be routed to nodes.
 *
 * Created by Henrik Ekblad <henrik.ekblad@mysensors.org>
 * Copyright (C) 2013-2015 Sensnology AB
 * Full contributor list: https://github.com/mysensors/Arduino/graphs/contributors
 *
 * Documentation: http://www.mysensors.org
 * Support Forum: http://forum.mysensors.org
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * version 2 as published by the Free Software Foundation.
 *
 *******************************
 *
 * 
 * 
 * DESCRIPTION
 * Chicken door controller
 */ 

// Enable debug prints to serial monitor
#define MY_DEBUG 

#define MY_RADIO_NRF24

#include <MySensors.h>
#include <Bounce2.h>


#define MOTORSW     3  // Motor activation pin
#define MOTORPWR    4  // Motor power lead pin
#define REED_OPEN   5  // Reed switch pin, pulled low when door is open
#define REED_CLOSED 6  // Reed switch pin, pulled low when door is closed
#define MANUALSW    7  // Momentary switch to control door
bool DoorState;        // 0 closed, 1 open
bool PrevState;        // Used to check for stated change
byte jammed=0;
unsigned long timer;   // Counter to check door closes in time ie isn't jammed.
Bounce debouncer = Bounce(); 

MyMessage msg(2,V_TRIPPED); 


void setup() 
{
    pinMode(MOTORSW,     OUTPUT);   
    pinMode(MOTORPWR,    OUTPUT);
    pinMode(REED_OPEN,   INPUT_PULLUP);   // Using internal pullup. When read switch is closed, will pull this pin to ground.
    pinMode(REED_CLOSED, INPUT_PULLUP);   // Ditto
    pinMode(MANUALSW, INPUT_PULLUP);      // Turn on pullup for switch, will be pulled low when pushed
    DoorState = loadState(1);
    PrevState = DoorState;
    debouncer.attach(MANUALSW);
    debouncer.interval(50);
}

void presentation()  
{   
  
  sendSketchInfo("ChickenDoor", "1.0");  // Send the sketch version information to the gateway and Controller
  present(1, S_BINARY);  // Register door actuator to Gateway
  present(2, S_DOOR); // This will go on if door is jammed
  
}


void loop() {
  debouncer.update();
  int value = debouncer.read();
  if (value == LOW) {
    DoorState = !DoorState;
    jammed==0;   // Reset the jam
    send(msg.set(LOW));
  }

  if ((DoorState != PrevState) && (jammed < 2)) {       //Something has changed and door isn't jammed
    
    switch(DoorState) {
       case 0: // Close Door
        timer = millis();
        while( digitalRead(REED_CLOSED)==HIGH) {  //Drive actuator until door closes then stop
           digitalWrite(MOTORPWR, HIGH);   //Turn on the actuator
           wait(50);   // Actuator wakes up
           digitalWrite(MOTORSW, HIGH);  //Close the door
           if (millis() - timer > 5000) {   //door is jammed
            jammed++;
            jiggle(); //open and close again
            break;
           } 
           }
           digitalWrite(MOTORSW, LOW); //Door is closed, turn off actuator switch
           digitalWrite(MOTORPWR, LOW); //Door is closed, turn off actuator
           PrevState = DoorState;
           jammed=0;
        break;
       case 1: // Open Door
        timer = millis();
        while( digitalRead(REED_OPEN)==HIGH) {  //Drive actuator until door opens then stop
           digitalWrite(MOTORPWR, HIGH);   //Turn on the actuator
           wait(50);   // Actuator wakes up
           digitalWrite(MOTORSW, HIGH); //Wake up the actuator
           wait(100);
           digitalWrite(MOTORSW, LOW); //Close the door
           if (millis() - timer > 5000) {   //door is jammed
            jammed++;
            jiggle();
            break;
                } 
           }
           digitalWrite(MOTORSW, LOW); //Door is closed, turn off actuator switch
           digitalWrite(MOTORPWR, LOW); //Door is closed, turn off actuator
           PrevState = DoorState;
           jammed=0;
          break;
       }      
    }
    else if (jammed >= 2) {
      send(msg.set(HIGH));           
    }
 }

void receive(const MyMessage &message) {
  
  if (message.type==V_STATUS) {                     // We only expect one type of message from controller. But we better check anyway.
     DoorState = message.getBool();
     saveState(1, message.getBool());               // Store state in eeprom
     Serial.print("Incoming change for sensor:");   // Write some debug info
     Serial.print(message.sensor);
     Serial.print(", New status: ");
     Serial.println(message.getBool());
   } 
}

void jiggle()  //J j j jiggle it a bit (4 times)
{ for(int x = 0; x < 4 ; x++) {
  digitalWrite(MOTORPWR, HIGH);
  digitalWrite(MOTORSW, HIGH);
  wait(500);
  digitalWrite(MOTORSW, LOW);
}
 digitalWrite(MOTORPWR, LOW);
 digitalWrite(MOTORSW, LOW);
  }