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#include "esp_camera.h"
#include <WiFi.h>

// Include the ultrasonic sensor library
#include <NewPing.h>

// Define the pins for ultrasonic sensor
#define TRIGGER_PIN  2  // D2 on ESP32
#define ECHO_PIN     3  // D3 on ESP32
#define MAX_DISTANCE 200 // Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 400-500cm.

NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); // NewPing setup of pins and maximum distance.

// ===================
// Select camera model
// ===================
#define CAMERA_MODEL_AI_THINKER // Has PSRAM

#include "camera_pins.h"

// ===========================
// Enter your WiFi credentials
// ===========================
const char* ssid ="OnePlus Nord2 5G";
const char* password = "12345678";

void startCameraServer();
void captureImage();

void setup() {
  Serial.begin(115200);
  Serial.setDebugOutput(true);
  Serial.println();

camera_config_t config;
  config.ledc_channel = LEDC_CHANNEL_0;
  config.ledc_timer = LEDC_TIMER_0;
  config.pin_d0 = Y2_GPIO_NUM;
  config.pin_d1 = Y3_GPIO_NUM;
  config.pin_d2 = Y4_GPIO_NUM;
  config.pin_d3 = Y5_GPIO_NUM;
  config.pin_d4 = Y6_GPIO_NUM;
  config.pin_d5 = Y7_GPIO_NUM;
  config.pin_d6 = Y8_GPIO_NUM;
  config.pin_d7 = Y9_GPIO_NUM;
  config.pin_xclk = XCLK_GPIO_NUM;
  config.pin_pclk = PCLK_GPIO_NUM;
  config.pin_vsync = VSYNC_GPIO_NUM;
  config.pin_href = HREF_GPIO_NUM;
  config.pin_sscb_sda = SIOD_GPIO_NUM;
  config.pin_sscb_scl = SIOC_GPIO_NUM;
  config.pin_pwdn = PWDN_GPIO_NUM;
  config.pin_reset = RESET_GPIO_NUM;
  config.xclk_freq_hz = 20000000;
  config.frame_size = FRAMESIZE_UXGA;
  config.pixel_format = PIXFORMAT_JPEG; // for streaming
  //config.pixel_format = PIXFORMAT_RGB565; // for face detection/recognition
  config.grab_mode = CAMERA_GRAB_WHEN_EMPTY;
  config.fb_location = CAMERA_FB_IN_PSRAM;
  config.jpeg_quality = 12;
  config.fb_count = 1;
  
  // if PSRAM IC present, init with UXGA resolution and higher JPEG quality
  //                      for larger pre-allocated frame buffer.
  if(config.pixel_format == PIXFORMAT_JPEG){
    if(psramFound()){
      config.jpeg_quality = 10;
      config.fb_count = 2;
      config.grab_mode = CAMERA_GRAB_LATEST;
    } else {
      // Limit the frame size when PSRAM is not available
      config.frame_size = FRAMESIZE_SVGA;
      config.fb_location = CAMERA_FB_IN_DRAM;
    }
  } else {
    // Best option for face detection/recognition
    config.frame_size = FRAMESIZE_240X240;
#if CONFIG_IDF_TARGET_ESP32S3
    config.fb_count = 2;
#endif
  }

// camera init
  esp_err_t err = esp_camera_init(&config);
  if (err != ESP_OK) {
    Serial.printf("Camera init failed with error 0x%x", err);
    return;
  }

sensor_t * s = esp_camera_sensor_get();
  // initial sensors are flipped vertically and colors are a bit saturated
  if (s->id.PID == OV3660_PID) {
    s->set_vflip(s, 1); // flip it back
    s->set_brightness(s, 1); // up the brightness just a bit
    s->set_saturation(s, -2); // lower the saturation
  }
  // drop down frame size for higher initial frame rate
  if(config.pixel_format == PIXFORMAT_JPEG){
    s->set_framesize(s, FRAMESIZE_QVGA);
  }

#if defined(CAMERA_MODEL_M5STACK_WIDE) || defined(CAMERA_MODEL_M5STACK_ESP32CAM)
  s->set_vflip(s, 1);
  s->set_hmirror(s, 1);
#endif

#if defined(CAMERA_MODEL_ESP32S3_EYE)
  s->set_vflip(s, 1);
#endif

WiFi.begin(ssid, password);
  WiFi.setSleep(false);

while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  Serial.println("");
  Serial.println("WiFi connected");

startCameraServer();

Serial.print("Camera Ready! Use 'http://");
  Serial.print(WiFi.localIP());
  Serial.println("' to connect");
}

void loop() {
  // Check if an object is within the specified range of the ultrasonic sensor
  unsigned int distance = sonar.ping_cm();
  if (distance < MAX_DISTANCE) {
    Serial.println("Object detected!");
    captureImage();
    delay(5000); // Wait for 5 seconds before detecting again to avoid multiple captures
  }

// Delay between sensor readings
  delay(100);
}

void captureImage() {
  camera_fb_t * fb = esp_camera_fb_get();
  if (!fb) {
    Serial.println("Camera capture failed");
    return;
  }

// Do something with the captured image (e.g., save to SD card)
  // For demonstration purposes, we're just printing the size of the image buffer
  Serial.print("Image size: ");
  Serial.println(fb->len);

esp_camera_fb_return(fb);
}