#if defined(ESP8266) //deklarasi library WiFi karena programnya dibuat universal untuk board ESP8266 
//dan board ESP32 maka menggunakan if untuk dicek terlebih dahulu jenis board yang digunakan
#include <ESP8266WiFi.h> //apabila menggunakan board ESP8266 menggunakan library ESP8266WiFi.h 
#elif defined(ESP32)
#include <WiFi.h> //apabila menggunakan board ESP32 maka menggunakan library WiFi.h 
#endif
#include "ThingsBoard.h"
#define WIFI_SSID "Wokwi-GUEST" //deklarasi ssid wifi yang digunakan, disesuiakan dengan wifi yang digunakan 
#define WIFI_PASSWORD "" //deklarasi password wifi yang digunakan 
// See https://thingsboard.io/docs/getting-started-guides/helloworld/
// to understand how to obtain an access token
#define TOKEN "ADiSsM0xzHhColE7uoJ5" //deklarasi token device yang digunakan untuk menguhubungkan esp32 dengan device pada thingsboard, tokennya disesuaikan dengan device yang digunakan bisa di cek langsung ketika membuka device pada thingsboard

#define THINGSBOARD_SERVER "thingsboard.cloud" //alamat server dari thingsboard, jika menggunakan server pribadi alamatnya bisa disesuaikan, apabila menggunakan server yang disediakan thingsboard alamatnya adalah thingsboar.cloud
const int DHT_PIN = 15; //deklarasi nomor pin dht
// Deklarasi Thingsboard client dan mengubah perintah WiFiClient menjadi espClient
WiFiClient espClient;

// Deklarasi untuk mengubah perintah Thingsboard menjadi tb dan memasukkan perintah WiFiClient yang sudah diubah menjadi espClient ke dalam library Thingsboard
ThingsBoard tb(espClient);
int status = WL_IDLE_STATUS;
#include <ESP32Servo.h>

int count = 0;


// defines pins numbers
const int trigPin1 = 12;
const int echoPin1 = 13;
int distance1;
boolean sensor1 = false;

const int trigPin2 = 25;
const int echoPin2 = 26;
int distance2;
boolean sensor2 = false;

const int trigPin3 = 4;
const int echoPin3 = 5;
int distance3;
boolean sensor3 = false;

const int trigPin4 = 22;
const int echoPin4 = 23;
int distance4;
boolean sensor4 = false;
// defines variables
long duration;

const int servoPin = 18;
Servo servo;
boolean kereta = false;
int pos = 0;

void connect() //void mengoneksikan esp dengan wifi pertama kali
{ Serial.println("Connecting to AP ...");
  // attempt to connect to WiFi network

  WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
  while (WiFi.status() != WL_CONNECTED) {
    delay(500);
    Serial.print(".");
  }
  Serial.println("Connected to AP");
}


void reconnect() { //peintah recconect wifi apabila esp terputus dengan jaringan wifinya
  // Loop until we're reconnected
  status = WiFi.status();
  if ( status != WL_CONNECTED) {
    WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
    while (WiFi.status() != WL_CONNECTED) {
      delay(500); Serial.print(".");
    }
    Serial.println("Connected to AP");
  }
}

void setup() {
  servo.attach(servoPin, 500, 2400);

  pinMode(trigPin1, OUTPUT); // Sets the trigPin as an Output
  pinMode(echoPin1, INPUT); // Sets the echoPin as an Input

  pinMode(trigPin2, OUTPUT);
  pinMode(echoPin2, INPUT);

  pinMode(trigPin3, OUTPUT);
  pinMode(echoPin3, INPUT);

  pinMode(trigPin4, OUTPUT);
  pinMode(echoPin4, INPUT);
  Serial.begin(9600); // Starts the serial communication
  connect();

}




void loop() {
  delay(1000);
  if (WiFi.status() != WL_CONNECTED) { //perintah untuk reconnect apabila esp32 disconnect dengan wifi
    reconnect();
  }

  if (!tb.connected()) { //perintah untuk koneksi ke server thingsboard/device thingsboard
    // Connect to the ThingsBoard
    Serial.print("Connecting to: ");
    Serial.print(THINGSBOARD_SERVER);
    Serial.print(" with token ");
    Serial.println(TOKEN);
    if (!tb.connect(THINGSBOARD_SERVER, TOKEN)) {
      Serial.println("Failed to connect");
      return;
    }
  }
  Serial.println("Sending data...");


  if(kereta == false){
    servo.write(pos);
  }
   // Clears the trigPin
  digitalWrite(trigPin1, LOW);
  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trigPin1, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin1, LOW);
  // Reads the echoPin, returns the sound wave travel time in microseconds
  duration = pulseIn(echoPin1, HIGH);
  // Calculating the distance
  distance1 = duration * 0.034 / 2;
  // Prints the distance on the Serial Monitor
  if(distance1 < 150){
    sensor1 = true;
    tb.sendTelemetryFloat("sensor 1", true);
  }else{
    sensor1 = false;
    tb.sendTelemetryFloat("sensor 1", false);
  }

  digitalWrite(trigPin2, LOW);
  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trigPin2, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin2, LOW);
  // Reads the echoPin, returns the sound wave travel time in microseconds
  duration = pulseIn(echoPin2, HIGH);
  // Calculating the distance
  distance2 = duration * 0.034 / 2;
  // Prints the distance on the Serial Monitor
  if(distance2 < 150){
    sensor2 = true;
    tb.sendTelemetryFloat("sensor 2", true);
  }else{
    sensor2 = false;
    tb.sendTelemetryFloat("sensor 2", false);
  }

  digitalWrite(trigPin3, LOW);
  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trigPin3, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin3, LOW);
  // Reads the echoPin, returns the sound wave travel time in microseconds
  duration = pulseIn(echoPin3, HIGH);
  // Calculating the distance
  distance3 = duration * 0.034 / 2;
  // Prints the distance on the Serial Monitor
  if(distance3 < 150){
    sensor3 = true;
    tb.sendTelemetryFloat("sensor 3", true);
  }else{
    sensor3 = false;
    tb.sendTelemetryFloat("sensor 3", false);
  }

  digitalWrite(trigPin4, LOW);
  delayMicroseconds(2);
  // Sets the trigPin on HIGH state for 10 micro seconds
  digitalWrite(trigPin4, HIGH);
  delayMicroseconds(10);
  digitalWrite(trigPin4, LOW);
  // Reads the echoPin, returns the sound wave travel time in microseconds
  duration = pulseIn(echoPin4, HIGH);
  // Calculating the distance
  distance4 = duration * 0.034 / 2;
  // Prints the distance on the Serial Monitor
  if(distance4 < 150){
    sensor4 = true;
    tb.sendTelemetryFloat("sensor 4", true);
  }else{
    sensor4 = false;
    tb.sendTelemetryFloat("sensor 4", false);
  }


  if(sensor1 && sensor2 || sensor2 && sensor3 || sensor3 && sensor4){
    tb.sendTelemetryFloat("ada kereta lewat", true);
    if(pos <=0){
      while(pos <= 90){
        pos++;
        servo.write(pos);
        delay(15);
      }
    }
    Serial.println("Ada kereta lewat");
    kereta = true;
  }else{
    tb.sendTelemetryFloat("ada kereta lewat", false);
     if(pos >= 90){
      while(pos >= 0){
        pos--;
        servo.write(pos);
        delay(15);
      }
    }
    Serial.println("");
    kereta = false;
  }
count++;
 }