---

import random
import time
from machine import Pin, SPI, UART, PWM, time_pulse_us
import bluetooth
from ble_simple_peripheral import BLESimplePeripheral
import dht

# ==============================================================================
# 1. ДРАЙВЕР ДИСПЛЕЯ ILI9341 (320x240)
# ==============================================================================
class ILI9341Direct:
    def __init__(self, spi, cs_pin, dc_pin, rst_pin):
        self.spi = spi
        self.cs = Pin(cs_pin, Pin.OUT)
        self.dc = Pin(dc_pin, Pin.OUT)
        self.rst = Pin(rst_pin, Pin.OUT)
        self.reset()
        self.init_display()

    def reset(self):
        self.rst.value(0)
        time.sleep_ms(50)
        self.rst.value(1)
        time.sleep_ms(100)

    def write_cmd(self, cmd):
        self.dc.value(0)
        self.cs.value(0)
        self.spi.write(bytearray([cmd]))
        self.cs.value(1)

    def write_data(self, data):
        self.dc.value(1)
        self.cs.value(0)
        self.spi.write(data)
        self.cs.value(1)

    def init_display(self):
        self.write_cmd(0x01)
        time.sleep_ms(100)
        self.write_cmd(0x11)
        time.sleep_ms(120)
        self.write_cmd(0x3A)
        self.write_data(b'\x55')
        self.write_cmd(0x36)
        self.write_data(b'\x28')
        self.write_cmd(0x29)
        time.sleep_ms(50)

    def set_window(self, x0, y0, x1, y1):
        self.write_cmd(0x2A)
        self.write_data(bytes([(x0 >> 8) & 0xFF, x0 & 0xFF, (x1 >> 8) & 0xFF, x1 & 0xFF]))
        self.write_cmd(0x2B)
        self.write_data(bytes([(y0 >> 8) & 0xFF, y0 & 0xFF, (y1 >> 8) & 0xFF, y1 & 0xFF]))
        self.write_cmd(0x2C)

    def clear(self, color=0x0000):
        self.set_window(0, 0, 319, 239)
        row_buf = color.to_bytes(2, 'big') * 320
        for _ in range(240):
            self.write_data(row_buf)

# ==============================================================================
# 2. СВЕРХБЫСТРЫЕ ДЕКОДЕРЫ VIPER
# ==============================================================================
@micropython.viper
def decode_chunk_normal(raw_ptr: ptr8, rgb_ptr: ptr8, num_bytes: int, fg_h: int, fg_l: int, bg_h: int, bg_l: int):
    out_idx = 0
    for i in range(num_bytes):
        b = raw_ptr[i]
        for bit in range(7, -1, -1):
            if (b >> bit) & 1:
                rgb_ptr[out_idx] = fg_h
                rgb_ptr[out_idx + 1] = fg_l
            else:
                rgb_ptr[out_idx] = bg_h
                rgb_ptr[out_idx + 1] = bg_l
            out_idx += 2

@micropython.viper
def decode_chunk_mirrored(raw_ptr: ptr8, rgb_ptr: ptr8, num_bytes: int, bytes_per_row: int, fg_h: int, fg_l: int, bg_h: int, bg_l: int):
    num_rows = num_bytes // bytes_per_row
    out_idx = 0
    for r in range(num_rows):
        row_start = r * bytes_per_row
        for c in range(bytes_per_row - 1, -1, -1):
            b = raw_ptr[row_start + c]
            for bit in range(8):
                if (b >> bit) & 1:
                    rgb_ptr[out_idx] = fg_h
                    rgb_ptr[out_idx + 1] = fg_l
                else:
                    rgb_ptr[out_idx] = bg_h
                    rgb_ptr[out_idx + 1] = bg_l
                out_idx += 2

def play_animation(tft, filename, width=240, height=240, fps=30, fg_color=0xFFFF, bg_color=0x0000, mirror=False):
    bytes_per_row = width // 8
    frame_bytes = bytes_per_row * height
    raw_buf = bytearray(frame_bytes)
    chunk_rows = 20
    chunk_raw_bytes = bytes_per_row * chunk_rows
    chunk_rgb = bytearray(width * chunk_rows * 2)

    fg_h = (fg_color >> 8) & 0xFF
    fg_l = fg_color & 0xFF
    bg_h = (bg_color >> 8) & 0xFF
    bg_l = bg_color & 0xFF

    x_offset = (320 - width) // 2
    y_offset = (240 - height) // 2

    delay_ms = int(1000 / fps) if fps > 0 else 0

    try:
        with open(filename, 'rb') as f:
            while True:
                read_bytes = f.readinto(raw_buf)
                if read_bytes < frame_bytes:
                    break

                t_start = time.ticks_ms()
                tft.set_window(x_offset, y_offset, x_offset + width - 1, y_offset + height - 1)

                for offset in range(0, frame_bytes, chunk_raw_bytes):
                    chunk_mem = memoryview(raw_buf)[offset : offset + chunk_raw_bytes]
                    if mirror:
                        decode_chunk_mirrored(chunk_mem, chunk_rgb, chunk_raw_bytes, bytes_per_row, fg_h, fg_l, bg_h, bg_l)
                    else:
                        decode_chunk_normal(chunk_mem, chunk_rgb, chunk_raw_bytes, fg_h, fg_l, bg_h, bg_l)
                    tft.write_data(chunk_rgb)

                if delay_ms > 0:
                    elapsed = time.ticks_diff(time.ticks_ms(), t_start)
                    sleep_time = delay_ms - elapsed
                    if sleep_time > 0:
                        time.sleep_ms(sleep_time)
    except OSError:
        print(f'Файл {filename} не найден!')

# ==============================================================================
# 3. НАСТРОЙКА ПИНОВ И УСТРОЙСТВ
# ==============================================================================
# Дисплей
spi = SPI(2, baudrate=40000000, sck=Pin(18), mosi=Pin(23), miso=Pin(19))
tft = ILI9341Direct(spi, cs_pin=5, dc_pin=2, rst_pin=4)
tft.clear(0x0000)

# Сервопривод (Шея)
servo = PWM(Pin(25), freq=50)

# Датчик DHT11
dht_sensor = dht.DHT11(Pin(33))

# Ультразвук (Trig=16, Echo=35)
trig = Pin(16, Pin.OUT)
echo = Pin(35, Pin.IN)

# Моторы (L9110S)
M_A_1A = Pin(26, Pin.OUT)
M_A_1B = Pin(27, Pin.OUT)
M_B_1A = Pin(13, Pin.OUT)
M_B_1B = Pin(14, Pin.OUT)

# Bluetooth (BLE)
ble = bluetooth.BLE()
sp = BLESimplePeripheral(ble, name="LOIK 2 PRO")

# ==============================================================================
# 4. ВСПОМОГАТЕЛЬНЫЕ ФУНКЦИИ
# ==============================================================================
def set_servo_angle(angle):
    duty = int(4000 + (angle / 180) * 4000)
    servo.duty_u16(duty)

def measure_distance():
    trig.value(0)
    time.sleep_us(2)
    trig.value(1)
    time.sleep_us(10)
    trig.value(0)
    try:
        duration = time_pulse_us(echo, 1, 30000)
        if duration < 0:
            return 999
        return (duration * 0.0343) / 2
    except OSError:
        return 999

def stop_motors():
    M_A_1A.value(0); M_A_1B.value(0)
    M_B_1A.value(0); M_B_1B.value(0)

def move_forward():
    M_A_1A.value(1); M_A_1B.value(0)
    M_B_1A.value(1); M_B_1B.value(0)

def move_backward():
    M_A_1A.value(0); M_A_1B.value(1)
    M_B_1A.value(0); M_B_1B.value(1)

def turn_left():
    M_A_1A.value(0); M_A_1B.value(1)
    M_B_1A.value(1); M_B_1B.value(0)

def turn_right():
    M_A_1A.value(1); M_A_1B.value(0)
    M_B_1A.value(0); M_B_1B.value(1)

def OG():
    rand_val = random.randint(5, 20)
    print(f"Проверка бездействия. Выпало число: {rand_val}")
    if rand_val >= 14:
        print("Скучно! Осматриваемся...")
        set_servo_angle(180); time.sleep(1.5)
        set_servo_angle(0); time.sleep(3)
        set_servo_angle(90); time.sleep(1)

# ==============================================================================
# 5. ОБРАБОТКА КОМАНД BLUETOOTH
# ==============================================================================
def on_rx(data):
    try:
        cmd = data.decode('utf-8').strip().lower()
        print(f'Команда по BT: {cmd}')
        
        if cmd == 'love':
            play_animation(tft, 'anim_1bit6.bin', fps=30)
        elif cmd == 'transform':
            use_mirror = random.choice([True, False])
            play_animation(tft, 'transform.bin', fps=30, mirror=use_mirror)
        elif cmd == 'left':
            turn_left(); time.sleep(0.5); stop_motors()
        elif cmd == 'right':
            turn_right(); time.sleep(0.5); stop_motors()
        elif cmd == 'forward':
            move_forward(); time.sleep(1); stop_motors()
        elif cmd == 'back':
            move_backward(); time.sleep(1); stop_motors()
    except Exception as e:
        print("Ошибка команды:", e)

sp.on_write(on_rx)

# ==============================================================================
# 6. ОСНОВНОЙ ЦИКЛ
# ==============================================================================
print("Робот запущен! Режим автономии активирован.")
play_animation(tft, 'blink.bin', width=240, height=240, fps=30)

last_action_time = time.ticks_ms()
current_action = 'stop'
action_end_time = time.ticks_ms()
last_distance = 999
last_dht_time = time.ticks_ms()

while True:
    now = time.ticks_ms()
    
    # 1. Чтение DHT11 раз в 3 секунды
    if time.ticks_diff(now, last_dht_time) > 3000:
        try:
            dht_sensor.measure()
            print(f"Температура: {dht_sensor.temperature()}C, Влажность: {dht_sensor.humidity()}%")
        except OSError:
            pass
        last_dht_time = now

    # 2. Проверка "Края стола" (если датчик видит резкое увеличение расстояния)
    dist = measure_distance()
    if last_distance < 10 and dist > 20: # Если было близко, а стало далеко
        print("КРАЙ СТОЛА! Едем назад.")
        move_backward()
        time.sleep(1.5)
        turn_right()
        time.sleep(0.8)
        stop_motors()
        action_end_time = time.ticks_ms() # Сбрасываем таймер действий
    last_distance = dist

    # 3. Логика случайного движения (если не заняты другими делами)
    if time.ticks_diff(now, action_end_time) > 0:
        stop_motors()
        
        # Выбираем случайное действие
        action = random.choice(['forward', 'forward', 'forward', 'left', 'right'])
        duration = random.uniform(1.0, 2.5) # от 1 до 2.5 секунд
        
        print(f"Случайное действие: {action} на {duration:.1f} сек")
        
        if action == 'forward':
            move_forward()
        elif action == 'left':
            turn_left()
        elif action == 'right':
            turn_right()
            
        action_end_time = time.ticks_add(now, int(duration * 1000))
        last_action_time = now

    # 4. Раз в 10 секунд проверяем, не пора ли осмотреться
    if time.ticks_diff(now, last_action_time) > 10000:
        OG()
        last_action_time = time.ticks_ms()

    # Задержка, чтобы ESP32 не зависала
    time.sleep_ms(50)