ESP32 Statek radar

/* LilyGo T-Display Ship Radar — AISStream live vessel reports */
#include <Arduino.h>
#include <WiFi.h>
#include <WebServer.h>
#include <Preferences.h>
#include <WebSocketsClient.h>
#include <ArduinoJson.h>
#include <LovyanGFX.hpp>
#include <math.h>
#define TFT_MOSI 19
#define TFT_SCLK 18
#define TFT_CS 5
#define TFT_DC 16
#define TFT_RST 23
#define TFT_BL 4
#define BTN_NEXT_PIN 0
#define BTN_ACTION_PIN 35
#define ALARM_DIGITAL_PIN 13
#define ALARM_LEVEL_PWM_PIN 32
#define ALARM_TONE_PWM_PIN 33
#define BATTERY_ENABLE_PIN 14
#define BATTERY_ADC_PIN 34
#define ALERT_DISTANCE_KM 10.0f
#define HOLD_INFO_MS 3000UL
#define HOLD_RESET_MS 5000UL
#define AP_SSID "ShipRadar-Setup"
#define NVS_NAMESPACE "shipradar"
#define SCREEN_W 240
#define SCREEN_H 135
#define RADAR_CX 120
#define RADAR_CY 70
#define RADAR_RADIUS 55
#define MAX_SHIPS 80
#define SHIP_STALE_MS 300000UL
class RadarDisplay : public lgfx::LGFX_Device { lgfx::Bus_SPI bus; lgfx::Panel_ST7789 panel; public: RadarDisplay(){auto bc=bus.config();bc.spi_host=SPI2_HOST;bc.freq_write=40000000;bc.pin_sclk=TFT_SCLK;bc.pin_mosi=TFT_MOSI;bc.pin_miso=-1;bc.pin_dc=TFT_DC;bus.config(bc);panel.setBus(&bus);auto pc=panel.config();pc.pin_cs=TFT_CS;pc.pin_rst=TFT_RST;pc.panel_width=135;pc.panel_height=240;pc.memory_width=240;pc.memory_height=320;pc.offset_x=52;pc.offset_y=40;pc.invert=true;pc.rgb_order=false;panel.config(pc);setPanel(&panel);}};
RadarDisplay display; Preferences prefs; WebServer configServer(80); WebSocketsClient aisSocket;
static const float RANGE_OPTIONS[]={0.5f,1,2,3,5,7.5f,10,15,20,25,30,40,50,60,75,100,125,150,175,200};
// This controls the periodic screen/battery refresh. Incoming AIS reports are drawn immediately.
static const unsigned long REFRESH_OPTIONS_MS[]={60000UL,120000UL,300000UL,600000UL,900000UL};
size_t rangeOptionIndex=12,refreshOptionIndex=0; float radarRangeKm=RANGE_OPTIONS[rangeOptionIndex]; unsigned long refreshIntervalMs=REFRESH_OPTIONS_MS[refreshOptionIndex]; double radarLat=0,radarLon=0; int activeLocationIndex=0; String aisApiKey; bool configMode=false,configServerReady=false,socketConnected=false,redrawNeeded=true; int shipListPage=-1; bool nextWasDown=false,actionWasDown=false,actionLongTriggered=false; unsigned long actionPressedAt=0; String radarStatus="Starting..."; String activeNetwork="Not connected"; String activeLocation="Not selected"; unsigned long lastBatteryReadMs=0,lastRedrawMs=0; float batteryVoltage=0, supplyVoltage=0; int batteryPercent=0; bool externalPower=false; uint8_t displayRotation=1; bool showChargeText=false; unsigned long lastChargeSwapMs=0; int screenW=240,screenH=135,radarCx=120,radarCy=70,radarRadius=55; const double DEG2RAD=M_PI/180.0;
bool isPortrait(){ return displayRotation==0 || displayRotation==2; }
String rotationLabel(){ const char* labels[]={"Vertical 0°","Horizontal 90°","Vertical 180°","Horizontal 270°"}; return labels[displayRotation & 3]; }
struct ShipPoint{uint32_t mmsi;float bearing,distance;String label;unsigned long seenAt;}; ShipPoint ships[MAX_SHIPS];int shipCount=0;
static const char CONFIG_HTML[] PROGMEM=R"HTML(<!doctype html><html><head><meta name="viewport" content="width=device-width,initial-scale=1"><title>Ship Radar setup</title><style>body{font-family:sans-serif;max-width:380px;margin:32px auto;padding:0 16px}input,button{box-sizing:border-box;width:100%;padding:10px;margin:5px 0 14px;font-size:16px}button{background:#087f23;color:#fff;border:0}</style></head><body><h2>Ship Radar setup</h2><p>Enter Wi-Fi, the radar centre and your AISStream key.</p><form method="post" action="/save"><label>Wi-Fi name</label><input name="ssid" required><label>Wi-Fi password</label><input name="pass" type="password"><label>Latitude</label><input name="lat" placeholder="54.3520" required><label>Longitude</label><input name="lon" placeholder="18.6466" required><label>AISStream API key</label><input name="aiskey" type="password" required><button>Save and connect</button></form></body></html>)HTML";
void showMessage(const char*a,const char*b=nullptr){display.fillScreen(TFT_BLACK);display.setTextSize(1);display.setTextColor(TFT_WHITE,TFT_BLACK);display.drawCentreString(a,screenW/2,screenH/2-18,2);if(b)display.drawCentreString(b,screenW/2,screenH/2+8,2);} double haversineKm(double a,double o,double b,double p){double dl=(b-a)*DEG2RAD,dn=(p-o)*DEG2RAD,x=sin(dl/2)*sin(dl/2)+cos(a*DEG2RAD)*cos(b*DEG2RAD)*sin(dn/2)*sin(dn/2);return 6371.0*2*atan2(sqrt(x),sqrt(1-x));} double bearingDeg(double a,double o,double b,double p){double d=(p-o)*DEG2RAD,y=sin(d)*cos(b*DEG2RAD),x=cos(a*DEG2RAD)*sin(b*DEG2RAD)-sin(a*DEG2RAD)*cos(b*DEG2RAD)*cos(d);return fmod(atan2(y,x)/DEG2RAD+360,360);}
void updateAlertOutputs(float nearest){bool near=nearest<=ALERT_DISTANCE_KM;digitalWrite(ALARM_DIGITAL_PIN,near);uint8_t level=near?(uint8_t)constrain((int)((ALERT_DISTANCE_KM-nearest)*255/ALERT_DISTANCE_KM),1,255):0;ledcWrite(ALARM_LEVEL_PWM_PIN,level);ledcWrite(ALARM_TONE_PWM_PIN,near?128:0);} int batteryPercentFromVoltage(float v){if(v>=4.20f)return 100;if(v>=4.15f)return 95;if(v>=4.10f)return 90;if(v>=4.05f)return 80;if(v>=4.00f)return 70;if(v>=3.95f)return 60;if(v>=3.90f)return 50;if(v>=3.85f)return 40;if(v>=3.80f)return 30;if(v>=3.75f)return 20;if(v>=3.70f)return 10;return 0;}
float readDividerVoltage(bool dividerEnabled){
  // GPIO14 controls the T-Display's divider; GPIO34 is the only analogue input.
  // The board's 1:2 divider keeps up to 6.0 V at roughly 3.0 V on GPIO34.
  digitalWrite(BATTERY_ENABLE_PIN,dividerEnabled ? HIGH : LOW);
  delay(12);
  analogReadMilliVolts(BATTERY_ADC_PIN); // discard settling conversion
  uint32_t totalMv=0;
  for(int i=0;i<16;i++){ totalMv+=analogReadMilliVolts(BATTERY_ADC_PIN); delay(2); }
  return (totalMv/16.0f)*2.0f/1000.0f;
}
void readBattery(){
  // Print both GPIO14 divider states to COM. This diagnoses the T-Display power path;
  // GPIO14 itself is a control output, not a second voltage-measurement input.
  float dividerHighVoltage=readDividerVoltage(true);
  float dividerLowVoltage=readDividerVoltage(false);
  digitalWrite(BATTERY_ENABLE_PIN,LOW);

  // A real Li-ion cell is normally 3.0–4.25 V. Retain only that reading for the
  // battery gauge, while still reporting values up to 6 V on COM for diagnosis.
  bool highIsCell=dividerHighVoltage>=3.00f && dividerHighVoltage<=4.35f;
  bool lowIsCell=dividerLowVoltage>=3.00f && dividerLowVoltage<=4.35f;
  if(highIsCell) batteryVoltage=dividerHighVoltage;
  else if(lowIsCell) batteryVoltage=dividerLowVoltage;
  else batteryVoltage=0.0f;
  supplyVoltage=dividerHighVoltage;
  batteryPercent=batteryVoltage>0 ? constrain(batteryPercentFromVoltage(batteryVoltage),0,100) : 0;
  // A value above the single-cell range is the board supply seen while USB/external
  // power is present. Alternate its measured value with the charge indication.
  externalPower=dividerHighVoltage>4.30f || dividerLowVoltage>4.30f;
  Serial.printf("Battery divider GPIO14=HIGH: %.3f V; GPIO14=LOW: %.3f V; gauge: %.3f V, %d%%; external=%s\n",dividerHighVoltage,dividerLowVoltage,batteryVoltage,batteryPercent,externalPower?"yes":"no");
}
void drawRadar(){display.fillScreen(TFT_BLACK);display.drawRect(0,0,screenW,screenH,TFT_DARKGREEN);display.drawCircle(radarCx,radarCy,radarRadius,TFT_GREEN);display.drawCircle(radarCx,radarCy,radarRadius*2/3,TFT_DARKGREEN);display.drawCircle(radarCx,radarCy,radarRadius/3,TFT_DARKGREEN);display.drawLine(radarCx-radarRadius,radarCy,radarCx+radarRadius,radarCy,TFT_DARKGREEN);display.drawLine(radarCx,radarCy-radarRadius,radarCx,radarCy+radarRadius,TFT_DARKGREEN);display.setTextSize(1);display.setTextColor(TFT_WHITE,TFT_BLACK);display.drawCentreString("N",radarCx,radarCy-radarRadius-10,1);display.drawCentreString("S",radarCx,radarCy+radarRadius+2,1);display.drawString("W",radarCx-radarRadius-10,radarCy-3);display.drawString("E",radarCx+radarRadius+4,radarCy-3);char buf[24];snprintf(buf,sizeof(buf),radarRangeKm<10&&floorf(radarRangeKm)!=radarRangeKm?"%.1f km":"%.0f km",radarRangeKm);display.setTextColor(TFT_YELLOW,TFT_BLACK);display.drawString(buf,4,4);snprintf(buf,sizeof(buf),"%lum",refreshIntervalMs/60000UL);display.drawCentreString(buf,screenW/2,4,1);if(externalPower){if(showChargeText)snprintf(buf,sizeof(buf),"Charge...");else snprintf(buf,sizeof(buf),"%.2fV",supplyVoltage);}else snprintf(buf,sizeof(buf),"%.2fV %d%%",batteryVoltage,batteryPercent);display.setTextColor(TFT_CYAN,TFT_BLACK);display.drawRightString(buf,screenW-4,4);display.drawString(radarStatus,4,screenH-14);for(int i=0;i<shipCount;i++){ShipPoint&s=ships[i];if(s.distance>radarRangeKm)continue;float a=(s.bearing-90)*DEG_TO_RAD,r=s.distance*radarRadius/radarRangeKm;int x=radarCx+(int)(cosf(a)*r),y=radarCy+(int)(sinf(a)*r);display.fillTriangle(x,y-4,x-4,y+3,x+4,y+3,TFT_CYAN);String label=s.label;label.trim();if(label.length()>7)label=label.substring(0,7);display.setTextColor(TFT_WHITE,TFT_BLACK);display.drawString(label,constrain(x+4,0,screenW-42),constrain(y-8,15,screenH-24));}redrawNeeded=false;}
void drawShipList(){const int PER_PAGE=isPortrait()?9:5;int order[MAX_SHIPS];for(int i=0;i<shipCount;i++)order[i]=i;for(int i=0;i<shipCount-1;i++)for(int j=i+1;j<shipCount;j++)if(ships[order[j]].distance<ships[order[i]].distance){int t=order[i];order[i]=order[j];order[j]=t;}int pages=max(1,(shipCount+PER_PAGE-1)/PER_PAGE);if(shipListPage<0||shipListPage>=pages)shipListPage=0;display.fillScreen(TFT_BLACK);display.setTextColor(TFT_CYAN,TFT_BLACK);display.drawString("Nearby ships",4,3,2);char pageText[20];snprintf(pageText,sizeof(pageText),"%d/%d",shipListPage+1,pages);display.drawRightString(pageText,screenW-4,5,2);int first=shipListPage*PER_PAGE;for(int row=0;row<PER_PAGE;row++){int n=first+row;if(n>=shipCount)break;ShipPoint&s=ships[order[n]];String name=s.label;name.trim();if(name.isEmpty())name="Unknown ship";int y=25+row*21;display.setTextColor(TFT_WHITE,TFT_BLACK);display.drawString(name.substring(0,isPortrait()?12:22),4,y,1);char distanceText[18];snprintf(distanceText,sizeof(distanceText),"%.1f km",s.distance);display.setTextColor(TFT_YELLOW,TFT_BLACK);display.drawRightString(distanceText,screenW-4,y,1);display.drawFastHLine(4,y+15,screenW-8,TFT_DARKGREY);}display.setTextColor(TFT_LIGHTGREY,TFT_BLACK);display.drawString("Short: next  Hold: radar",4,screenH-14,1);redrawNeeded=false;}
void drawInfoScreen(){
  display.fillScreen(TFT_BLACK); display.setTextColor(TFT_CYAN,TFT_BLACK); display.drawString("Connection info",4,4,2);
  display.setTextColor(TFT_WHITE,TFT_BLACK); display.drawString("Wi-Fi:",4,30,1); display.drawString(activeNetwork.substring(0,isPortrait()?18:25),4,42,1);
  display.drawString("Router IP:",4,58,1); display.drawString(WiFi.status()==WL_CONNECTED?WiFi.localIP().toString():"not connected",4,70,1);
  display.drawString("Location:",4,86,1); display.drawString(activeLocation.substring(0,isPortrait()?18:22),4,98,1);
  display.setTextColor(TFT_YELLOW,TFT_BLACK); display.drawString("Right: place  Left: rotate",4,screenH-14,1); redrawNeeded=false;
}
void drawCurrentScreen(){if(shipListPage==-2)drawInfoScreen();else if(shipListPage<0)drawRadar();else drawShipList();}
void subscribeAis(){if(!socketConnected||aisApiKey.isEmpty())return;double latSpan=radarRangeKm/111.0,lonSpan=radarRangeKm/(111.0*max(0.10,cos(radarLat*DEG2RAD)));JsonDocument doc;doc["APIKey"]=aisApiKey;JsonArray boxes=doc["BoundingBoxes"].to<JsonArray>();JsonArray box=boxes.add<JsonArray>();
// AISStream requires [[north-west latitude, longitude], [south-east latitude, longitude]].
// This is the same corner order as the official AISStream example.
JsonArray northWest=box.add<JsonArray>();northWest.add(radarLat+latSpan);northWest.add(radarLon-lonSpan);JsonArray southEast=box.add<JsonArray>();southEast.add(radarLat-latSpan);southEast.add(radarLon+lonSpan);JsonArray messageTypes=doc["FilterMessageTypes"].to<JsonArray>();messageTypes.add("PositionReport");String message;serializeJson(doc,message);Serial.printf("AIS box NW %.5f,%.5f SE %.5f,%.5f; range %.1f km\n",radarLat+latSpan,radarLon-lonSpan,radarLat-latSpan,radarLon+lonSpan,radarRangeKm);Serial.printf("AIS subscription bytes: %u\n",(unsigned)message.length());bool sent=aisSocket.sendTXT(message);Serial.printf("AIS subscription sent: %s\n",sent?"yes":"no");radarStatus=sent?"AIS: subscribed":"AIS send failed";redrawNeeded=true;drawCurrentScreen();lastRedrawMs=millis();}
void processAis(uint8_t*payload,size_t length){JsonDocument doc;if(deserializeJson(doc,payload,length)){radarStatus="AIS bad JSON";redrawNeeded=true;return;}const char *messageType=doc["MessageType"]|"";bool isPosition=String(messageType)=="PositionReport"||String(messageType)=="StandardClassBPositionReport"||String(messageType)=="ExtendedClassBPositionReport";if(!isPosition){const char *error=doc["Error"]|doc["Message"]|"";if(strlen(error)>0){radarStatus=String("AIS: ")+String(error).substring(0,22);redrawNeeded=true;}return;}JsonObject meta=doc["MetaData"];JsonObject report=doc["Message"][messageType];
// AISStream's PositionReport places Latitude and Longitude inside Message.PositionReport.
// Some server variants also include lowercase coordinates in MetaData, so accept both.
double lat=report["Latitude"]|meta["latitude"]|NAN;
double lon=report["Longitude"]|meta["longitude"]|NAN;
if(isnan(lat)||isnan(lon)){radarStatus="AIS: no coordinates";redrawNeeded=true;return;}
float distance=haversineKm(radarLat,radarLon,lat,lon);if(distance>radarRangeKm)return;uint32_t mmsi=report["UserID"]|meta["MMSI"]|0;if(!mmsi)return;int index=-1;for(int i=0;i<shipCount;i++)if(ships[i].mmsi==mmsi){index=i;break;}if(index<0){if(shipCount>=MAX_SHIPS)return;index=shipCount++;}ships[index].mmsi=mmsi;ships[index].bearing=bearingDeg(radarLat,radarLon,lat,lon);ships[index].distance=distance;const char *shipName=meta["ShipName"]|"SHIP";ships[index].label=String(shipName);ships[index].seenAt=millis();float nearest=999999;for(int i=0;i<shipCount;i++)nearest=min(nearest,ships[i].distance);updateAlertOutputs(nearest);radarStatus=String("AIS: ")+shipCount+" ships";redrawNeeded=true;
// A received report changes what is visible, so show it immediately. The selected
// interval only schedules the quiet periodic refresh when no AIS report arrives.
lastRedrawMs=millis();drawCurrentScreen();}
void webSocketEvent(WStype_t type,uint8_t*payload,size_t length){
  if(type==WStype_CONNECTED){socketConnected=true;Serial.println("AIS connected");radarStatus="AIS: subscribing";redrawNeeded=true;drawCurrentScreen();lastRedrawMs=millis();subscribeAis();}
  else if(type==WStype_DISCONNECTED){socketConnected=false;uint16_t closeCode=0;if(payload&&length>=2)closeCode=((uint16_t)payload[0]<<8)|payload[1];String closeReason="";if(payload&&length>2)for(size_t i=2;i<length;i++)closeReason+=(char)payload[i];Serial.printf("AIS disconnected; close %u %s\n",closeCode,closeReason.c_str());radarStatus=closeCode?String("AIS closed ")+closeCode:"AIS reconnecting";redrawNeeded=true;}
  else if(type==WStype_ERROR){String error;for(size_t i=0;i<length;i++) error+=(char)payload[i];Serial.printf("AIS error: %s\n",error.c_str());radarStatus="AIS error";redrawNeeded=true;}
  else if(type==WStype_TEXT||type==WStype_BIN){
    // AISStream transmits UTF-8 JSON in binary WebSocket frames.
    Serial.printf("AIS %s: %u bytes: %.*s\n",type==WStype_BIN?"binary JSON":"text JSON",(unsigned)length,(int)min(length,(size_t)160),payload);
    processAis(payload,length);
  }
}void startAis(){if(aisApiKey.isEmpty()){radarStatus="Missing AIS key";redrawNeeded=true;drawCurrentScreen();return;}aisSocket.onEvent(webSocketEvent);aisSocket.setReconnectInterval(5000);radarStatus="AIS connecting";redrawNeeded=true;drawCurrentScreen();lastRedrawMs=millis();aisSocket.beginSSL("stream.aisstream.io",443,"/v0/stream");}
void applyOrientation(){
  display.setRotation(displayRotation & 3);
  screenW=isPortrait()?135:240; screenH=isPortrait()?240:135;
  radarCx=screenW/2; radarCy=isPortrait()?130:70; radarRadius=isPortrait()?52:55;
}
String configInput(const String& label,const String& name,const String& value,const String& type="text") { return "<label>"+label+"</label><input name='"+name+"' type='"+type+"' value='"+value+"'>"; }
String buildConfigPage(){
  prefs.begin(NVS_NAMESPACE,true); int li=prefs.getUInt("locidx",0),ki=prefs.getUInt("keyidx",0); uint8_t savedRotation=prefs.isKey("rotation") ? prefs.getUChar("rotation",1) : (prefs.getBool("portrait",false)?0:1); String p="<!doctype html><html><head><meta name='viewport' content='width=device-width,initial-scale=1'><title>Ship Radar setup</title><style>body{font-family:sans-serif;max-width:480px;margin:18px auto;padding:0 14px}input,select,button{box-sizing:border-box;width:100%;padding:9px;margin:4px 0 11px;font-size:16px}button{background:#087f23;color:#fff;border:0}h3{margin:18px 0 4px}</style></head><body><h2>Ship Radar setup</h2><p>Save up to three Wi-Fi networks, places and AIS keys. The radar tries Wi-Fi 1, then 2, then 3.</p><form method='post' action='/save'>";
  for(int i=0;i<3;i++){p+="<h3>Wi-Fi "+String(i+1)+"</h3>"+configInput("Network name","ssid"+String(i),prefs.getString(("ssid"+String(i)).c_str(),""))+configInput("Password","pass"+String(i),prefs.getString(("pass"+String(i)).c_str(),""),"password");}
  p+="<h3>Current location</h3><select name='locidx'>"; for(int i=0;i<3;i++){String n=prefs.getString(("locname"+String(i)).c_str(),"Place "+String(i+1));p+="<option value='"+String(i)+"'"+(i==li?" selected":"")+">"+n+"</option>";} p+="</select>";
  for(int i=0;i<3;i++){p+="<h3>Place "+String(i+1)+"</h3>"+configInput("Name","locname"+String(i),prefs.getString(("locname"+String(i)).c_str(),"Place "+String(i+1)))+configInput("Latitude","lat"+String(i),String(prefs.getDouble(("lat"+String(i)).c_str(),0),6))+configInput("Longitude","lon"+String(i),String(prefs.getDouble(("lon"+String(i)).c_str(),0),6));}
  p+="<h3>Current AIS key</h3><select name='keyidx'>"; for(int i=0;i<3;i++){String n=prefs.getString(("keyname"+String(i)).c_str(),"AIS key "+String(i+1));p+="<option value='"+String(i)+"'"+(i==ki?" selected":"")+">"+n+"</option>";} p+="</select>";
  for(int i=0;i<3;i++)p+="<h3>AIS key "+String(i+1)+"</h3>"+configInput("Label","keyname"+String(i),prefs.getString(("keyname"+String(i)).c_str(),"AIS key "+String(i+1)))+configInput("AISStream API key","aiskey"+String(i),prefs.getString(("aiskey"+String(i)).c_str(),""),"password");
  p+="<h3>Screen rotation</h3><select name='rotation'><option value='0'"+String(savedRotation==0?" selected":"")+">Vertical 0 degrees</option><option value='1'"+String(savedRotation==1?" selected":"")+">Horizontal 90 degrees</option><option value='2'"+String(savedRotation==2?" selected":"")+">Vertical 180 degrees</option><option value='3'"+String(savedRotation==3?" selected":"")+">Horizontal 270 degrees</option></select><button>Save and restart</button></form></body></html>"; prefs.end(); return p;
}
void startConfigPortal(bool apMode=true){
  // On normal startup the server listens on the router-assigned address without
  // changing radio mode. A five-second right-button hold deliberately switches to
  // this board's own setup network.
  if(apMode) {
    configMode=true; aisSocket.disconnect(); WiFi.disconnect(true); delay(100);
    WiFi.mode(WIFI_AP); WiFi.setSleep(false); WiFi.softAP(AP_SSID);
    Serial.printf("Setup portal started: AP http://%s\n",WiFi.softAPIP().toString().c_str());
  } else {
    configMode=false;
    Serial.printf("Setup page available at router IP: http://%s\n",WiFi.localIP().toString().c_str());
  }
  if(!configServerReady) {
  configServer.on("/",HTTP_GET,[](){ configServer.sendHeader("Cache-Control","no-store"); configServer.send(200,"text/html",buildConfigPage()); });
  configServer.on("/save",HTTP_POST,[](){
prefs.begin(NVS_NAMESPACE,false);for(int i=0;i<3;i++){prefs.putString(("ssid"+String(i)).c_str(),configServer.arg("ssid"+String(i)));prefs.putString(("pass"+String(i)).c_str(),configServer.arg("pass"+String(i)));prefs.putString(("locname"+String(i)).c_str(),configServer.arg("locname"+String(i)));prefs.putDouble(("lat"+String(i)).c_str(),configServer.arg("lat"+String(i)).toDouble());prefs.putDouble(("lon"+String(i)).c_str(),configServer.arg("lon"+String(i)).toDouble());prefs.putString(("keyname"+String(i)).c_str(),configServer.arg("keyname"+String(i)));prefs.putString(("aiskey"+String(i)).c_str(),configServer.arg("aiskey"+String(i)));}prefs.putUInt("locidx",configServer.arg("locidx").toInt());prefs.putUInt("keyidx",configServer.arg("keyidx").toInt());prefs.putUChar("rotation",(uint8_t)constrain(configServer.arg("rotation").toInt(),0,3));prefs.end();configServer.send(200,"text/html","<h2>Saved. Restarting.</h2>");delay(800);ESP.restart();});
  configServer.onNotFound([](){ configServer.sendHeader("Location","/"); configServer.send(302,"text/plain",""); });
  configServer.begin();
  configServerReady=true;
  }
  if(apMode) showMessage("Join ShipRadar-Setup","open 192.168.4.1");
}
void setup(){Serial.begin(115200);pinMode(TFT_BL,OUTPUT);digitalWrite(TFT_BL,HIGH);pinMode(BTN_NEXT_PIN,INPUT_PULLUP);pinMode(BTN_ACTION_PIN,INPUT);pinMode(ALARM_DIGITAL_PIN,OUTPUT);pinMode(BATTERY_ENABLE_PIN,OUTPUT);digitalWrite(BATTERY_ENABLE_PIN,LOW);pinMode(BATTERY_ADC_PIN,INPUT);analogReadResolution(12);analogSetPinAttenuation(BATTERY_ADC_PIN,ADC_11db);readBattery();ledcAttach(ALARM_LEVEL_PWM_PIN,5000,8);ledcAttach(ALARM_TONE_PWM_PIN,2000,8);updateAlertOutputs(999999);display.init();prefs.begin(NVS_NAMESPACE,true);displayRotation=prefs.isKey("rotation") ? prefs.getUChar("rotation",1) : (prefs.getBool("portrait",false)?0:1); displayRotation&=3;int locIndex=min((int)prefs.getUInt("locidx",0),2),keyIndex=min((int)prefs.getUInt("keyidx",0),2);activeLocationIndex=locIndex;activeLocation=prefs.getString(("locname"+String(locIndex)).c_str(),"Place "+String(locIndex+1));String ssids[3],passes[3];for(int i=0;i<3;i++){ssids[i]=prefs.getString(("ssid"+String(i)).c_str(),i==0?prefs.getString("ssid",""):"");passes[i]=prefs.getString(("pass"+String(i)).c_str(),i==0?prefs.getString("pass",""):"");}aisApiKey=prefs.getString(("aiskey"+String(keyIndex)).c_str(),keyIndex==0?prefs.getString("aiskey",""):"");radarLat=prefs.getDouble(("lat"+String(locIndex)).c_str(),locIndex==0?prefs.getDouble("lat",0):0);radarLon=prefs.getDouble(("lon"+String(locIndex)).c_str(),locIndex==0?prefs.getDouble("lon",0):0);rangeOptionIndex=min((size_t)prefs.getUInt("rangeIdx",rangeOptionIndex),(size_t)19);radarRangeKm=RANGE_OPTIONS[rangeOptionIndex];refreshOptionIndex=min((size_t)prefs.getUInt("refreshIdx",refreshOptionIndex),(size_t)4);refreshIntervalMs=REFRESH_OPTIONS_MS[refreshOptionIndex];prefs.end();applyOrientation();drawCurrentScreen();if(ssids[0].isEmpty()||aisApiKey.isEmpty()){startConfigPortal();return;}WiFi.mode(WIFI_STA);bool connected=false;String activeSsid;for(int i=0;i<3&&!connected;i++){if(ssids[i].isEmpty())continue;showMessage("Connecting to Wi-Fi...",ssids[i].c_str());WiFi.disconnect(true);delay(200);WiFi.begin(ssids[i].c_str(),passes[i].c_str());unsigned long start=millis();while(WiFi.status()!=WL_CONNECTED&&millis()-start<8000)delay(250);connected=WiFi.status()==WL_CONNECTED;if(connected){activeSsid=ssids[i];activeNetwork=activeSsid;}}if(!connected)startConfigPortal();else {Serial.printf("Wi-Fi connected (%s): %s\n",activeSsid.c_str(),WiFi.localIP().toString().c_str());startConfigPortal(false);showMessage("Wi-Fi connected","Connecting to AIS...");delay(400);startAis();}}
void loop(){configServer.handleClient();if(configMode){delay(2);return;}aisSocket.loop();
  // The T-Display buttons are read by polling instead of interrupts, so a normal tap
  // is handled reliably even while the Wi-Fi socket is active.
  bool nextDown=digitalRead(BTN_NEXT_PIN)==LOW;
  bool actionDown=digitalRead(BTN_ACTION_PIN)==LOW;
  if(!nextDown && nextWasDown){
    if(shipListPage==-2) {
      // Rotation is intentionally available only from the connection/IP screen.
      displayRotation=(displayRotation+1)&3; applyOrientation();
      prefs.begin(NVS_NAMESPACE,false); prefs.putUChar("rotation",displayRotation); prefs.end();
      radarStatus=rotationLabel();
    } else {
      // In normal radar/list use, left changes the displayed radar distance.
      rangeOptionIndex=(rangeOptionIndex+1)%(sizeof(RANGE_OPTIONS)/sizeof(RANGE_OPTIONS[0]));
      radarRangeKm=RANGE_OPTIONS[rangeOptionIndex];
      prefs.begin(NVS_NAMESPACE,false); prefs.putUInt("rangeIdx",rangeOptionIndex); prefs.end();
      radarStatus="Range changed";
      // AISStream subscriptions cannot be resized in place; reconnect with the new box.
      aisSocket.disconnect();
    }
    redrawNeeded=true; drawCurrentScreen(); lastRedrawMs=millis();
  }
  if(actionDown && !actionWasDown) { actionPressedAt=millis(); actionLongTriggered=false; }
  // Start setup while the button is still held. The former release-only behaviour
  // made the five-second action easy to miss and gave no portal feedback.
  if(actionDown && !actionLongTriggered && millis()-actionPressedAt>=HOLD_RESET_MS) {
    actionLongTriggered=true;
    startConfigPortal();
  }
  if(!actionDown && actionWasDown && !actionLongTriggered){
    unsigned long held=millis()-actionPressedAt;
    if(held>=HOLD_INFO_MS) {
      // Three seconds opens connection information; another long press returns to radar.
      shipListPage=(shipListPage==-2)?-1:-2; redrawNeeded=true; drawCurrentScreen(); lastRedrawMs=millis();
    } else if(shipListPage==-2) {
      // On the information screen, a normal press selects the next saved location.
      activeLocationIndex=(activeLocationIndex+1)%3;
      prefs.begin(NVS_NAMESPACE,false);
      prefs.putUInt("locidx",activeLocationIndex);
      activeLocation=prefs.getString(("locname"+String(activeLocationIndex)).c_str(),"Place "+String(activeLocationIndex+1));
      radarLat=prefs.getDouble(("lat"+String(activeLocationIndex)).c_str(),0);
      radarLon=prefs.getDouble(("lon"+String(activeLocationIndex)).c_str(),0);
      prefs.end();
      radarStatus="Location changed"; redrawNeeded=true; drawCurrentScreen(); lastRedrawMs=millis();
      // AISStream needs a new bounding box for a changed radar centre. Keep ships
      // already received on screen until new reports replace or age them out.
      aisSocket.disconnect();
    } else {const int PER_PAGE=isPortrait()?9:5;int pages=max(1,(shipCount+PER_PAGE-1)/PER_PAGE);if(shipListPage<0)shipListPage=0;else if(shipListPage+1<pages)shipListPage++;else shipListPage=-1;redrawNeeded=true;drawCurrentScreen();lastRedrawMs=millis();}
  }
  nextWasDown=nextDown; actionWasDown=actionDown;if(externalPower&&millis()-lastChargeSwapMs>=2000){lastChargeSwapMs=millis();showChargeText=!showChargeText;redrawNeeded=true;}if(millis()-lastBatteryReadMs>=10000){lastBatteryReadMs=millis();readBattery();redrawNeeded=true;}for(int i=0;i<shipCount;){if(millis()-ships[i].seenAt>SHIP_STALE_MS){ships[i]=ships[--shipCount];redrawNeeded=true;}else i++;}// New AIS reports draw immediately in processAis(). This only refreshes the quiet screen
// (battery/status/stale markers) at the interval selected with the right button.
if(redrawNeeded&&millis()-lastRedrawMs>=refreshIntervalMs){lastRedrawMs=millis();drawCurrentScreen();}delay(10);}