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# main.py -- Greenhouse Irrigation Robot
import RPi.GPIO as GPIO
import smbus2
import time
import cv2
from sensor import MoistureSensor
from motor import MotorCtrl

# GPIO pin definitions
VALVE_PIN = 22   # relay controlling solenoid valve
MOTOR_IN1 = 17   # motor direction pin 1
MOTOR_IN2 = 27   # motor direction pin 2
MOTOR_PWM = 18   # motor speed (PWM)
THRESHOLD = 40   # soil moisture threshold (%)

# Initialize GPIO
GPIO.setmode(GPIO.BCM)
GPIO.setup(VALVE_PIN, GPIO.OUT)
GPIO.setup(MOTOR_IN1, GPIO.OUT)
GPIO.setup(MOTOR_IN2, GPIO.OUT)

# Instantiate drivers
sensor = MoistureSensor(channel=0)
motor  = MotorCtrl(MOTOR_IN1, MOTOR_IN2, MOTOR_PWM)

def irrigate(duration=2.0):
    """Open solenoid valve for given seconds."""
    GPIO.output(VALVE_PIN, GPIO.HIGH)
    time.sleep(duration)
    GPIO.output(VALVE_PIN, GPIO.LOW)

def detect_row(frame):
    """Detect crop row center offset using HSV masking."""
    hsv  = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
    mask = cv2.inRange(hsv, (35, 50, 50), (85, 255, 255))
    M    = cv2.moments(mask)
    if M["m00"] == 0:
        return 0
    cx = int(M["m10"] / M["m00"])
    return cx - frame.shape[1] // 2

def patrol_loop():
    """Main patrol loop: navigate rows and irrigate as needed."""
    cam = cv2.VideoCapture(0)
    pwm = GPIO.PWM(MOTOR_PWM, 1000)
    pwm.start(60)

    while True:
        ret, frame = cam.read()
        if not ret:
            break

        # Visual navigation: steer toward row center
        offset = detect_row(frame)
        motor.steer(offset)

        # Read soil moisture and irrigate if below threshold
        moisture = sensor.read_pct()
        if moisture < THRESHOLD:
            irrigate(duration=3.0)

        time.sleep(0.5)

    cam.release()
    pwm.stop()

if __name__ == "__main__":
    try:
        patrol_loop()
    except KeyboardInterrupt:
        print("Stopped by user")
    finally:
        GPIO.cleanup()