#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>

LiquidCrystal_I2C lcd(0x27, 20, 4);


const int trigPin = 5;
const int echoPin = 18;
const char* apikey = "TRP12D019CRNLC3N";
const char* server = "api.thingspeak.com";
int ledPin = 26; 
int buzzer = 25;               // choose the pin for the LED
int inputPin = 12;               // choose the input pin (for PIR sensor)
int pirState = LOW;             // we start, assuming no motion detected
int irsensor = 14;
int val = 0;
//define sound speed in cm/uS
#define SOUND_SPEED 0.034
#define CM_TO_INCH 0.393701

long duration;
float distanceCm;
float distanceInch;

Adafruit_MPU6050 mpu;
Adafruit_Sensor *mpu_temp, *mpu_accel, *mpu_gyro;

typedef struct {
  float temp;
  float accX;
  float accY;
  float accZ;
  float gyroX;
  float gyroY;
  float gyroZ;
} MPU6050;

MPU6050 mpu6050;

SemaphoreHandle_t xMutexMPU6050 = NULL; //创建信号量Handler
TickType_t timeOut = 1000; //用于获取信号量的Timeout 1000 ticks


void mpu6050Task(void *pvParam) {

  mpu.begin();

  mpu_temp = mpu.getTemperatureSensor();
  mpu_temp->printSensorDetails();

  mpu_accel = mpu.getAccelerometerSensor();
  mpu_accel->printSensorDetails();

  mpu_gyro = mpu.getGyroSensor();
  mpu_gyro->printSensorDetails();

  sensors_event_t accel;
  sensors_event_t gyro;
  sensors_event_t temp;

  while (1) {

    if (xSemaphoreTake(xMutexMPU6050, timeOut) == pdPASS) {

      //获取MPU数据
      mpu_temp->getEvent(&temp);
      mpu_accel->getEvent(&accel);
      mpu_gyro->getEvent(&gyro);

      mpu6050.temp = temp.temperature;
      mpu6050.accX = accel.acceleration.x;
      mpu6050.accY = accel.acceleration.y;
      mpu6050.accZ = accel.acceleration.z;
      mpu6050.gyroX = gyro.gyro.x;
      mpu6050.gyroY = gyro.gyro.y;
      mpu6050.gyroZ = gyro.gyro.z;

      xSemaphoreGive(xMutexMPU6050); //释放钥匙
    } else {
      //Unable to obtain MUTEX
    }

    vTaskDelay(500);
  }
}
  void lcdTask(void *ptParam) {  //LCD任务主体

  lcd.init();
  lcd.backlight();

  //定义是 2004 LCD
  byte lcdLine = 4;
  byte lcdChar = 20;

  char line0[lcdChar + 1], line1[lcdChar + 1], line2[lcdChar + 1], line3[lcdChar + 1];
  char * line[] = { line0, line1, line2, line3, };

  while (1) {

    if (xSemaphoreTake(xMutexMPU6050, timeOut) == pdPASS) {

      sprintf(line0, "     MPU6050 %d", xTaskGetTickCount() / 100);
      sprintf(line1, " Temperature  %.2f", mpu6050.temp);
      sprintf(line2, " ACC  %.2f %.2f %.2f", mpu6050.accX, mpu6050.accY, mpu6050.accZ);
      sprintf(line3, " GYRO %.2f %.2f %.2f", mpu6050.gyroX, mpu6050.gyroY, mpu6050.gyroZ);

      xSemaphoreGive(xMutexMPU6050); //释放钥匙
    } else {
      //Unable to obtain MUTEX
    }

    // 显示数据
    for (int i = 0; i < 4; i++) {
      lcd.setCursor(0, i);
      lcd.print(line[i]);
    }

    vTaskDelay(1000);
  }
}


void setup()
{
  Serial.begin(115200);
  pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
  pinMode(echoPin, INPUT); 
  pinMode(ledPin, OUTPUT);  
  pinMode(buzzer, OUTPUT);     // declare LED as output
  pinMode(inputPin, INPUT); 
  pinMode(irsensor,OUTPUT); // Sets the echoPin as an Input

  xMutexMPU6050 = xSemaphoreCreateMutex(); //创建MUTEX

  xTaskCreate(mpu6050Task, "MPU6050", 1024 * 8, NULL, 1, NULL);
  vTaskDelay(1000); //让MPU6050提前先运行一秒获取第一笔数据
  xTaskCreate(lcdTask, "lcd", 1024 * 8, NULL, 1, NULL);

}


void loop() {
  val = digitalRead(inputPin);
  int ir = digitalRead(irsensor);
  digitalWrite(trigPin, LOW);
  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trigPin, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin, LOW);
  
  // Reads the echoPin, returns the sound wave travel time in microseconds
  duration = pulseIn(echoPin, HIGH);
  
  // Calculate the distance
  distanceCm = duration * SOUND_SPEED/2;
  
  // Prints the distance in the Serial Monitor
  Serial.print("Distance (cm): ");
  Serial.println(distanceCm);
  if (val == HIGH) {            // check if the input is HIGH
    digitalWrite(ledPin, HIGH); 
    digitalWrite(buzzer, HIGH);
    delay(1); // turn LED ON
  
  } else {
    digitalWrite(ledPin, LOW); 
    digitalWrite(buzzer, LOW);
    delay(1);// turn LED OFF
    if (pirState == HIGH) {
      // we have just turned of
      Serial.println("Motion ended!");
      // We only want to print on the output change, not state
      pirState = LOW;
    }
    if(ir > 0){
    digitalWrite(ledPin, HIGH); 
    digitalWrite(buzzer, HIGH);
    Serial.print("Object Detected");
    delay(1); // turn LED ON

    }
    else{
    digitalWrite(ledPin, LOW); 
    digitalWrite(buzzer, LOW);
    Serial.println("Object  Not Detected");
    delay(1); // turn LED ON

    }
    if (distanceCm < 100)
    {
     digitalWrite(ledPin, HIGH); 
     digitalWrite(buzzer, HIGH);
     Serial.println("Something Here....");
     delay(2);
    }
    else{
     digitalWrite(ledPin, LOW); 
     digitalWrite(buzzer, LOW);
     Serial.println("Nothing  Here....");
     delay(2);

    }

  }
  
  delay(1000);
}