#! /usr/bin/perl
#Name: IOT-Raspberry.pl version 0.2
#Source & info: www.HomoFaciens.de
#http://www.HomoFaciens.de/technics-computer-internet-of-things_en_navion.htm


use strict;
use LWP::UserAgent;
use HTTP::Request::Common;
use Getopt::Long;
use File::Basename;
use LWP::Simple;
use Time::HiRes qw(usleep nanosleep);

$|=1 ;

#Password for access through browser interface. Use a-z, A-Z and 0-1, NO SPECIAL CHARACTERS, NO SPACE!!!
#Min length 8 characters, max length 30 characters
my $password = "TypeYourPassWordHere";

#$encrypt_key_shift must have all alphanumeric characters with random order and must be identical to IOT-Status.pl
my $encrypt_key_shift="GLZPDWOKFISVUHYTQBNJMAERxswCgzdpkoilXfujhtybqmnvcare0987654321";
my $i = 0;
my $allowed_chars = "abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ1234567890-";

if(length($password) < 8){
  print "Password '" . $password . "'too short (min. 8 characters)";
}
if(length($password) > 30){
  print "Password '" . $password . "'too long (max. 30 characters)";
}

if( !($password eq "")){
  for($i = 0; $i < length($password); $i++){
    if(index($allowed_chars, substr($password, $i, 1)) < 0){
      print("Invalid character in password!");
      exit(1);
    }
  }
}
else{
  print("Password not set!");
  exit(1);
}


my $encode_string = "";
my $char_pos = 0;
for($i = 0; $i < length($password); $i++){
  $char_pos = index($encrypt_key_shift, substr($password, $i, 1));
  $encode_string = $encode_string . $char_pos . "-";
}
$password = $encode_string;

print "passwd=" . $password . "\n";

#Set -1 to disable 0 to enable a device (GPIO)
#Disabled devices are removed from the browser interface
my $led_green_active = 0;
my $led_yellow_active = 0;
my $led_red_active = 0;
my $led_white_active = 0;
my $motor_direction_active = 0;
my $motor_pwm_active = 0;
my $servo_1_active = 0;
my $servo_2_active = 0;
my $switch_1_active = 0;
my $switch_2_active = 0;
my $make_snapshot_active = 0;

my $led_green = $led_green_active;
my $led_yellow = $led_yellow_active;
my $led_red = $led_red_active;
my $led_white = $led_white_active;
my $motor_direction = $motor_direction_active;
my $motor_pwm = $motor_pwm_active;
my $servo_1 = $servo_1_active;
my $servo_2 = $servo_2_active;
my $switch_1 = $switch_1_active;
my $switch_2 = $switch_2_active;
my $make_snapshot = $make_snapshot_active;

my $camera_only = 1;

my $script_answer="";
my $temp = 0;
my $char_temp = "";

my $led_green_old = -1000;
my $led_yellow_old = -1000;
my $led_red_old = -1000;
my $led_white_old = -1000;
my $motor_direction_old = -1000;
my $motor_pwm_old = -1000;
my $servo_1_old = -1000;
my $servo_2_old = -1000;
my $make_snapshot_old = 0;
my $servo_1_duration = 2;
my $servo_1_duration_start = 0;
my $servo_2_duration = 2;
my $servo_2_duration_start = 0;
my $last_call = 0;
my $do_reboot = 0;
my $snapshot_file = "photo.jpg";
my $upload_command = "";

my $url_next_command = 'http://robospatium.de/IOT/IOT-Command.pl?passwd=' . $password ;

#restart GPIO-pwm
print "Stopping GPIO-pwm\n";
system("killall GPIO-pwm");
sleep(2);

if($led_red_active > -1){
  $camera_only = 0;
}
if($led_green_active > -1){
  $camera_only = 0;
}
if($led_yellow_active > -1){
  $camera_only = 0;
}
if($led_white_active > -1){
  $camera_only = 0;
}
if($servo_1_active > -1){
  $camera_only = 0;
}
if($servo_2_active > -1){
  $camera_only = 0;
}
if($motor_pwm_active > -1){
  $camera_only = 0;
}
if($motor_direction_active > -1){
  $camera_only = 0;
}

if($camera_only == 0){
  print "Restarting GPIO-pwm\n";
  system("nice -n 0 ./GPIO-pwm&");
  sleep(5);
  print "Initializing peripherals\n";
}
#initialize the GPIOs
if($led_white_active > -1){
  system("> /dev/GPIO-pwm/0-0");#White LED
}
if($motor_pwm_active > -1){
  system("> /dev/GPIO-pwm/2-0");#PWM H bridge
}
if($motor_direction_active > -1){
  system("> /dev/GPIO-pwm/3-0");#Direction H bridge
}
if($servo_1_active > -1){
  system("> /dev/GPIO-pwm/4-0");#Servo 1
}
if($servo_2_active > -1){
  system("> /dev/GPIO-pwm/5-0");#Servo 2
}
if($led_green_active > -1){
  system("> /dev/GPIO-pwm/12-0");#Green LED
}
if($led_yellow_active > -1){
  system("> /dev/GPIO-pwm/13-0");#Yellow LED
}
if($led_red_active > -1){
  system("> /dev/GPIO-pwm/14-0");#Red LED
}
#State of switch is either open (256) or closed (512)
if($switch_1_active > -1){
  $switch_1 = system("./GPIO-status 15 > /dev/null");
}
if($switch_2_active > -1){
  $switch_2 = system("./GPIO-status 16 > /dev/null");
}




#print "Switch 1 = " . $switch_1 . "\n";
#print "Switch 2 = " . $switch_2 . "\n";

$last_call = time();

while (1 == 1){#Program loop runs for ever

  if(time - $last_call > 10){
    $last_call = time();
    $script_answer = get $url_next_command . "&LED_RED=" . $led_red . "&LED_GREEN=" . $led_green . "&LED_YELLOW=" . $led_yellow . "&LED_WHITE=" . $led_white . "&SWITCH_1=" . $switch_1 . "&SWITCH_2=" . $switch_2 . "&SERVO_1=" . $servo_1 . "&SERVO_2=" . $servo_2 . "&MOTOR_DIRECTION=" . $motor_direction . "&MOTOR_PWM=" . $motor_pwm . "&MAKE_SNAPSHOT=" . $make_snapshot;
    
    print "Script answer=\"" . $script_answer . "\" at " . (localtime) . "\n";
    
    if(length($script_answer) > 18){
    
      $temp=substr($script_answer, 0, index($script_answer, "_"));  
      $script_answer = substr($script_answer, index($script_answer, "_") + 1, length($script_answer));      
      if($led_red_active > -1){
        if($temp < 0){
          $temp = 0;
        }
        $led_red = $temp;
      }

      $temp=substr($script_answer, 0, index($script_answer, "_"));
      $script_answer = substr($script_answer, index($script_answer, "_") + 1, length($script_answer));
      if($led_green_active > -1){
        if($temp < 0){
          $temp = 0;
        }
        $led_green = $temp;
      }

      $temp=substr($script_answer, 0, index($script_answer, "_"));
      $script_answer = substr($script_answer, index($script_answer, "_") + 1, length($script_answer));
      if($led_yellow_active > -1){
        if($temp < 0){
          $temp = 0;
        }
        $led_yellow = $temp;
      }
      
      $temp=substr($script_answer, 0, index($script_answer, "_"));
      $script_answer = substr($script_answer, index($script_answer, "_") + 1, length($script_answer));
      if($led_white_active > -1){
        if($temp < 0){
          $temp = 0;
        }
        $led_white = $temp;
      }

      $temp=substr($script_answer, 0, index($script_answer, "_"));
      $script_answer = substr($script_answer, index($script_answer, "_") + 1, length($script_answer));
      if($switch_1_active > -1){
        if($temp < 0){
          $temp = 0;
        }
        $switch_1 = $temp;
      }

      $temp=substr($script_answer, 0, index($script_answer, "_"));
      $script_answer = substr($script_answer, index($script_answer, "_") + 1, length($script_answer));
      if($switch_2_active > -1){
        if($temp < 0){
          $temp = 0;
        }
        $switch_2 = $temp;
      }

      $temp=substr($script_answer, 0, index($script_answer, "_"));
      $script_answer = substr($script_answer, index($script_answer, "_") + 1, length($script_answer));
      if($servo_1_active > -1){
        if($temp < 0){
          $temp = 0;
        }
        $servo_1 = $temp;
      }

      $temp=substr($script_answer, 0, index($script_answer, "_"));
      $script_answer = substr($script_answer, index($script_answer, "_") + 1, length($script_answer));
      if($servo_2_active > -1){
        if($temp < 0){
          $temp = 0;
        }
        $servo_2 = $temp;
      }

      $temp=substr($script_answer, 0, index($script_answer, "_"));
      $script_answer = substr($script_answer, index($script_answer, "_") + 1, length($script_answer));
      if($motor_direction_active > -1){
        if($temp < 0){
          $temp = 0;
        }
        $motor_direction = $temp;
      }

      $temp=substr($script_answer, 0, index($script_answer, "_"));
      $script_answer = substr($script_answer, index($script_answer, "_") + 1, length($script_answer));
      if($motor_pwm_active > -1){
        if($temp < 0){
          $temp = 0;
        }
        $motor_pwm = $temp;
      }
      
      $temp=substr($script_answer, 0, index($script_answer, "_"));
      $script_answer = substr($script_answer, index($script_answer, "_") + 1, length($script_answer));
      if($do_reboot > -1){
        if($temp < 0){
          $temp = 0;
        }
        $do_reboot = $temp;
      }
      
      $temp=substr($script_answer, 0, index($script_answer, "_"));
      $script_answer = substr($script_answer, index($script_answer, "_") + 1, length($script_answer));
      if($make_snapshot_active > -1){
        if($temp < 0){
          $temp = 0;
        }
        $make_snapshot = $temp;
      }

    }#if(length($script_answer) > 18){
  }#if(time - $last_call > 10){

  #State of switch is either open (256) or closed (512)
  if($switch_1_active > -1){
    $switch_1 = system("./GPIO-status 15 > /dev/null");
  }
  if($switch_2_active > -1){
    $switch_2 = system("./GPIO-status 16 > /dev/null");
  }

  if($led_green_old != $led_green){
    if($led_green > -1 && $led_green < 201 && $led_green_active > -1){
      system ("> /dev/GPIO-pwm/12-$led_green");
    }
  }

  if($led_red_old != $led_red){
    if($led_red > -1 && $led_red < 201 && $led_red_active > -1){
      system ("> /dev/GPIO-pwm/14-$led_red");
    }
  }

  if($led_yellow_old != $led_yellow){
    if($led_yellow > -1 && $led_yellow < 201 && $led_yellow_active > -1){
      system ("> /dev/GPIO-pwm/13-$led_yellow");
    }
  }
  if($led_white_old != $led_white){
    if($led_white > -1 && $led_white < 201 && $led_white_active > -1){
      system ("> /dev/GPIO-pwm/0-$led_white");
    }
  }

  #Set servos
  if($servo_1_active > -1){
    if($servo_1_old != $servo_1){
      if($servo_1 > -1 && $servo_1 < 201){
        system ("> /dev/GPIO-pwm/4-$servo_1");
        $servo_1_duration_start = time();
      }
    }

    if(time() - $servo_1_duration_start > $servo_1_duration){
      system ("> /dev/GPIO-pwm/4-0");#Stop servo pulses
    }
  }

  if($servo_2_active > -1){
    if($servo_2_old != $servo_2){
      if($servo_2 > -1 && $servo_2 < 201){
        system ("> /dev/GPIO-pwm/5-$servo_2");
        $servo_2_duration_start = time();
      }
    }

    if(time() - $servo_2_duration_start > $servo_2_duration){
      system ("> /dev/GPIO-pwm/5-0");#Stop servo pulses
    }
  }
  

  #Set H bridge

  if($motor_direction_old != $motor_direction || $motor_pwm_old != $motor_pwm){
    if($motor_direction == 0){
      if($motor_pwm > -1 && $motor_pwm < 201){
        if($motor_direction_active > -1){
          system ("> /dev/GPIO-pwm/3-0");#Direction
        }
        if($motor_pwm_active > -1){
          system ("> /dev/GPIO-pwm/2-$motor_pwm");#PWM
        }
      }
    }
    else{
      if($motor_pwm > -1 && $motor_pwm < 201){
        if($motor_direction_active > -1){
          system ("> /dev/GPIO-pwm/3-200");#Direction
        }
        $temp = 200 - $motor_pwm;
        if($motor_pwm_active > -1){
          system ("> /dev/GPIO-pwm/2-$temp");#PWM
        }
      }
    }
  }

  if($do_reboot == 1){
    print "Rebooting...\n";
    system ("init 6");
  }
  if($do_reboot == 2){
    print "Shuting down!\n";
    system ("init 0");
  }
  
  if($make_snapshot == 1 && $make_snapshot_old > 25){
    $make_snapshot = 0;
    system("raspistill -w 320 -h 240 -o " . $snapshot_file);
    #When using an USB webcam, comment out the line above and uncoment the line below
    #system("avconv -y -f video4linux2 -i /dev/video0 -frames 10 -s 320x240 %08d.jpg");system("cp 00000010.jpg " . $snapshot_file);
    if ( -e $snapshot_file ) {
      $upload_command = "snapshot";
      my $ua  = LWP::UserAgent->new();
      my $req = POST $url_next_command, Content_Type => 'form-data', Content => [submit => 1, TRANSFER_FILE => [ $snapshot_file ], passwd => $password, UPLOAD_COMMAND => $upload_command];
      my $response = $ua->request($req);

      if ($response->is_success()) {
        print "Sending snapshot OK: " . $response->content . "\n";
      }
      else{
        print "ERROR sending snapshot: " . $response->as_string . "\n";
      }
    }
    else{
      print $snapshot_file . " not found, probably camera not installed?\n";
    }
    $make_snapshot_old = 0;
  }

  $led_green_old = $led_green;
  $led_yellow_old = $led_yellow;
  $led_red_old = $led_red;
  $led_white_old = $led_white;
  $motor_direction_old = $motor_direction;
  $motor_pwm_old = $motor_pwm;
  $servo_1_old = $servo_1;
  $servo_2_old = $servo_2;
  $make_snapshot_old++;


#  print "led_red=" . $led_red . "\n";
#  print "led_green=" . $led_green . "\n";
#  print "led_yellow=" . $led_yellow . "\n";
#  print "led_white=" . $led_white . "\n";
#  print "switch_1=" . $switch_1 . "\n";
#  print "switch_2=" . $switch_2 . "\n";
#  print "servo_1=" . $servo_1 . "\n";
#  print "servo_2=" . $servo_2 . "\n";
#  print "motor_direction=" . $motor_direction . "\n";
#  print "motor_pwm=" . $motor_pwm . "\n";

  
  sleep(1);


}#while (1 == 1)