Nomadic infrastructure for urban microecosistems

#include <ESP32Servo.h>
#include "DHTesp.h"

// Pines
#define MOISTURE_PIN 1
#define LDR_PIN 2
#define DHT_PIN 9

#define SERVO1_PIN 6  // Patas izquierdas
#define SERVO2_PIN 7  // Patas derechas

// Objetos
Servo servo1;
Servo servo2;
DHTesp dht;

// Constantes para servos de rotacin continua
#define STOP_SPEED 90      // Velocidad para detener el servo
#define WALK_SPEED 180     // Velocidad para caminar (ajusta 0 o 180 segn direccin deseada)

// Estados
enum HabitatState {
  STABLE,
  TOO_SUNNY,
  TOO_HOT,
  TOO_COLD,
  TOO_DARK,
  TOO_WET,   // Solo basado en soil moisture
  TOO_DRY,   // Solo basado en soil moisture
  WALKING    // Caminata activa
};

HabitatState currentState = STABLE;

// Tiempos
const unsigned long STRESS_DETECTION_TIME = 5000;  // 5 segundos detectando estrs
const unsigned long WALKING_TIME = 10000;         // 10 segundos caminando
const unsigned long READING_INTERVAL = 5000;      // Lecturas cada 5 segundos en estable

unsigned long lastReadingTime = 0;
unsigned long walkingStartTime = 0;
unsigned long stressDetectionStart = 0;

// Umbrales ambientales
const int LIGHT_SUNNY = 3000;    // Demasiada luz solar
const int LIGHT_DARK = 700;      // Muy poca luz
const float TEMP_HOT = 26.0;     // Temperatura muy alta
const float TEMP_COLD = 17.0;    // Temperatura muy baja
const int MOISTURE_WET = 1500;   // Suelo muy hmedo (TOO_WET)
const int MOISTURE_DRY = 800;    // Suelo muy seco (TOO_DRY)

// Variables para almacenar lecturas
int lastMoisture = 0;
int lastLight = 0;
float lastTemperature = 0;
float lastHumidity = 0;

// Variables para condiciones actuales
bool isTooSunny = false;
bool isTooHot = false;
bool isTooCold = false;
bool isTooDark = false;
bool isTooWet = false;
bool isTooDry = false;

// Bandera para iniciar caminata solo una vez al entrar al estado
bool walkingStarted = false;

// ===============================
void setup() {
  Serial.begin(115200);
  delay(1000);

  Serial.println("========================================");
  Serial.println("Autonomous Mobile Habitat");
  Serial.println("========================================");
  Serial.println("Mode: Read every 5s -> Walk 10s -> Read every 5s");
  Serial.println("Sensors: LDR (light), DHT11 (temp), Soil Moisture");
  Serial.println("Servos: Continuous rotation (speed control)");
  Serial.println("----------------------------------------");

  servo1.attach(SERVO1_PIN);
  servo2.attach(SERVO2_PIN);

  dht.setup(DHT_PIN, DHTesp::DHT11);
  analogReadResolution(12);

  // Detener servos al iniciar
  servo1.write(STOP_SPEED);
  servo2.write(STOP_SPEED);
  
  lastReadingTime = millis();
  stressDetectionStart = 0;
}

// ===============================
void loop() {
  unsigned long now = millis();

  // ===== MQUINA DE ESTADOS =====
  switch (currentState) {
    
    case STABLE:
      handleStableState(now);
      break;
      
    case TOO_SUNNY:
    case TOO_HOT:
    case TOO_COLD:
    case TOO_DARK:
    case TOO_WET:
    case TOO_DRY:
      handleStressDetection(now);
      break;
      
    case WALKING:
      handleWalkingState(now);
      break;
  }

  // Pequeo delay para evitar sobrecarga
  delay(10);
}

// Estado ESTABLE
void handleStableState(unsigned long now) {
  // Lecturas cada 5 segundos
  if (now - lastReadingTime >= READING_INTERVAL) {
    readSensors();
    lastReadingTime = now;
    
    // Evaluar condiciones individuales
    evaluateConditions();
    
    // Determinar tipo de estrs si existe (prioridad en orden)
    if (isTooSunny) {
      printBadConditions("TOO SUNNY", "LDR SENSOR");
      currentState = TOO_SUNNY;
      stressDetectionStart = now;
      walkingStarted = false;   // Resetear bandera para prximo paseo
    } 
    else if (isTooHot) {
      printBadConditions("TOO HOT", "TEMPERATURE SENSOR");
      currentState = TOO_HOT;
      stressDetectionStart = now;
      walkingStarted = false;
    }
    else if (isTooCold) {
      printBadConditions("TOO COLD", "TEMPERATURE SENSOR");
      currentState = TOO_COLD;
      stressDetectionStart = now;
      walkingStarted = false;
    }
    else if (isTooDark) {
      printBadConditions("TOO DARK", "LDR SENSOR");
      currentState = TOO_DARK;
      stressDetectionStart = now;
      walkingStarted = false;
    }
    else if (isTooWet) {
      printBadConditions("TOO WET", "SOIL MOISTURE SENSOR");
      currentState = TOO_WET;
      stressDetectionStart = now;
      walkingStarted = false;
    }
    else if (isTooDry) {
      printBadConditions("TOO DRY", "SOIL MOISTURE SENSOR");
      currentState = TOO_DRY;
      stressDetectionStart = now;
      walkingStarted = false;
    }
    else {
      Serial.println("\n ALL CONDITIONS ARE OPTIMAL ");
      printAllSensorValues();
    }
  }
  
  // Mantener servos detenidos
  servo1.write(STOP_SPEED);
  servo2.write(STOP_SPEED);
}

// Deteccin de ESTRS (5 segundos)
void handleStressDetection(unsigned long now) {
  // Mostrar progreso de deteccin
  unsigned long elapsed = now - stressDetectionStart;
  int secondsElapsed = elapsed / 1000;
  int totalSeconds = STRESS_DETECTION_TIME / 1000;
  
  // Solo imprimir cada segundo
  static int lastPrintedSecond = -1;
  if (secondsElapsed != lastPrintedSecond) {
    Serial.print("Stress detection: ");
    Serial.print(secondsElapsed);
    Serial.print("s / ");
    Serial.print(totalSeconds);
    Serial.println("s");
    lastPrintedSecond = secondsElapsed;
  }
  
  // Si pasaron 5 segundos de estrs, empezar a caminar
  if (elapsed >= STRESS_DETECTION_TIME) {
    Serial.println("STARTING 10s WALK");
    currentState = WALKING;
    walkingStartTime = now;
  }
  
  // Mantener servos detenidos durante la deteccin
  servo1.write(STOP_SPEED);
  servo2.write(STOP_SPEED);
}

// Estado CAMINANDO (10 segundos)
void handleWalkingState(unsigned long now) {
  // Al entrar al estado, arrancar los servos una sola vez
  if (!walkingStarted) {
    servo1.write(WALK_SPEED);
    servo2.write(WALK_SPEED);
    walkingStarted = true;
    Serial.println("Walking started - continuous rotation");
  }

  // Controlar tiempo de caminata
  unsigned long walkElapsed = now - walkingStartTime;
  int secondsElapsed = walkElapsed / 1000;
  int totalSeconds = WALKING_TIME / 1000;
  
  // Mostrar progreso de caminata cada segundo (opcional)
  static int lastWalkSecond = -1;
  if (secondsElapsed != lastWalkSecond) {
    Serial.print("Walking: ");
    Serial.print(secondsElapsed);
    Serial.print("s / ");
    Serial.print(totalSeconds);
    Serial.println("s");
    lastWalkSecond = secondsElapsed;
  }
  
  // Si pasaron 10 segundos, volver a estado estable
  if (walkElapsed >= WALKING_TIME) {
    Serial.println("WALKING COMPLETE - RETURNING TO STABLE");
    stopWalking();
    currentState = STABLE;
    lastReadingTime = now; // Reiniciar timer de lecturas
    stressDetectionStart = 0;
    walkingStarted = false;
    return;
  }
}

// Lectura de sensores
void readSensors() {
  Serial.println("READING SENSORS...");
  
  lastMoisture = analogRead(MOISTURE_PIN);
  lastLight = analogRead(LDR_PIN);
  
  TempAndHumidity data = dht.getTempAndHumidity();
  lastTemperature = data.temperature;
  lastHumidity = data.humidity;  // Solo para monitoreo, no para estrs
}

// Evaluar condiciones ambientales individualmente
void evaluateConditions() {
  // Reiniciar todas las condiciones
  isTooSunny = false;
  isTooHot = false;
  isTooCold = false;
  isTooDark = false;
  isTooWet = false;
  isTooDry = false;
  
  // Evaluar luz (LDR) - 2 casos
  if (lastLight > LIGHT_SUNNY) {
    isTooSunny = true;
  } else if (lastLight < LIGHT_DARK) {
    isTooDark = true;
  }
  
  // Evaluar temperatura (DHT11) - 2 casos
  if (lastTemperature > TEMP_HOT) {
    isTooHot = true;
  } else if (lastTemperature < TEMP_COLD) {
    isTooCold = true;
  }
  
  // Evaluar humedad del suelo (Soil Moisture) - 2 casos
  if (lastMoisture > MOISTURE_WET) {
    isTooWet = true;
  } else if (lastMoisture < MOISTURE_DRY) {
    isTooDry = true;
  }
}

// Imprimir valores de TODOS los sensores
void printAllSensorValues() {
  Serial.println("CURRENT SENSOR VALUES:");
  
  // Temperatura
  Serial.print("  Temperature: ");
  Serial.print(lastTemperature);
  Serial.print("C (OK: ");
  Serial.print(TEMP_COLD);
  Serial.print("-");
  Serial.print(TEMP_HOT);
  Serial.print("C) - ");
  if (lastTemperature > TEMP_HOT) {
    Serial.println("TOO HOT!");
  } else if (lastTemperature < TEMP_COLD) {
    Serial.println("TOO COLD!");
  } else {
    Serial.println("OK");
  }
  
  // Luz
  Serial.print("  Light Level: ");
  Serial.print(lastLight);
  Serial.print(" (OK: ");
  Serial.print(LIGHT_DARK);
  Serial.print("-");
  Serial.print(LIGHT_SUNNY);
  Serial.print(") - ");
  if (lastLight > LIGHT_SUNNY) {
    Serial.println("TOO SUNNY!");
  } else if (lastLight < LIGHT_DARK) {
    Serial.println("TOO DARK!");
  } else {
    Serial.println("OK");
  }
  
  // Humedad del suelo
  Serial.print("  Soil Moisture: ");
  Serial.print(lastMoisture);
  Serial.print(" (OK: ");
  Serial.print(MOISTURE_DRY);
  Serial.print("-");
  Serial.print(MOISTURE_WET);
  Serial.print(") - ");
  if (lastMoisture > MOISTURE_WET) {
    Serial.println("TOO WET!");
  } else if (lastMoisture < MOISTURE_DRY) {
    Serial.println("TOO DRY!");
  } else {
    Serial.println("OK");
  }
  
  // Humedad ambiental (solo informativa)
  Serial.print("  Air Humidity: ");
  Serial.print(lastHumidity);
  Serial.println("% (monitoring only)");
  
  Serial.println("----------------------------------------");
}

// Imprimir condiciones MALAS especficas
void printBadConditions(const char* conditionName, const char* sensorType) {
  Serial.println("\nBAD CONDITIONS DETECTED");
  Serial.print("CONDITION: ");
  Serial.println(conditionName);
  Serial.print("SENSOR: ");
  Serial.println(sensorType);
  
  Serial.println("PROBLEMATIC SENSOR VALUES:");
  
  if (strcmp(conditionName, "TOO SUNNY") == 0) {
    Serial.print("  Light: ");
    Serial.print(lastLight);
    Serial.print(" > ");
    Serial.println(LIGHT_SUNNY);
  }
  else if (strcmp(conditionName, "TOO HOT") == 0) {
    Serial.print("  Temperature: ");
    Serial.print(lastTemperature);
    Serial.print("C > ");
    Serial.print(TEMP_HOT);
    Serial.println("C");
  }
  else if (strcmp(conditionName, "TOO COLD") == 0) {
    Serial.print("  Temperature: ");
    Serial.print(lastTemperature);
    Serial.print("C < ");
    Serial.print(TEMP_COLD);
    Serial.println("C");
  }
  else if (strcmp(conditionName, "TOO DARK") == 0) {
    Serial.print("  Light: ");
    Serial.print(lastLight);
    Serial.print(" < ");
    Serial.println(LIGHT_DARK);
  }
  else if (strcmp(conditionName, "TOO WET") == 0) {
    Serial.print("  Soil Moisture: ");
    Serial.print(lastMoisture);
    Serial.print(" > ");
    Serial.println(MOISTURE_WET);
  }
  else if (strcmp(conditionName, "TOO DRY") == 0) {
    Serial.print("  Soil Moisture: ");
    Serial.print(lastMoisture);
    Serial.print(" < ");
    Serial.println(MOISTURE_DRY);
  }
  
  printAllSensorValues();
}

// Detener servos (inmediato para rotacin continua)
void stopWalking() {
  servo1.write(STOP_SPEED);
  servo2.write(STOP_SPEED);
  Serial.println("Servos stopped at neutral (90)");
  Serial.println("----------------------------------------\n");
}