#include <Arduino_FreeRTOS.h>
#include <task.h>
#include<TimerOne.h> //library yang dibutuhkan untuk menggunakan interrupt
#include <LiquidCrystal_I2C.h> // Library for LCD

// constants won't change. They're used here to set pin numbers:
const int buttonPin = 2;  // the number of the pushbutton pin
const int ledhijau = 4;    // the number of the LED pin
const int ledmerah = 3;    // the number of the LED pin
const int trigPin = 6;
const int echoPin = 5;
const int ldrPin = A0;
LiquidCrystal_I2C lcd(0x27, 16, 2); // I2C address 0x27, 16 column and 2 rows


// variables will change:
int buttonState = 0;  // variable for reading the pushbutton status
long duration;
int distance;
int intensitas;
String cahaya;
bool stopTasks = false;

TaskHandle_t Handle_aTask; //ledhijau blinking
TaskHandle_t Handle_bTask; //membaca sensor ultrasonic
TaskHandle_t Handle_cTask; //membaca sensor ldr
// TaskHandle_t Handle_dTask;

//ledhijau blinking
static void aTask(void* pvParameters) {
    while (1) {
      if (!stopTasks){
        digitalWrite(ledhijau, HIGH);
        delay(1000);
        digitalWrite(ledhijau, LOW);
        delay(1000);
      }
      vTaskDelay(100 / portTICK_PERIOD_MS);
    }
}
//membaca sensor ultrasonic
static void bTask(void* pvParameters) {
    while (1) {
          // Clears the trigPin
          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);
          // Calculating the distance
          distance = duration * 0.034 / 2;
          // Prints the distance on the Serial Monitor
          // Serial.print("Distance: ");
          // Serial.println(distance);
          vTaskDelay(1000 / portTICK_PERIOD_MS);
    }
}
//membaca sensor ldr
static void cTask(void* pvParameters) {
    while (1) {
          intensitas = analogRead(ldrPin);
          if(intensitas <= 200){ 
            cahaya = "Terang";
          }else{
            cahaya = "gelap";
          }
          // Serial.print("Cahaya: " );
          // Serial.println(cahaya);
          vTaskDelay(1000 / portTICK_PERIOD_MS);
    }
}


void setup() {
  pinMode(ledhijau, OUTPUT);
  pinMode(ledmerah, OUTPUT);
  pinMode(buttonPin, INPUT);
  pinMode(trigPin, OUTPUT); // Sets the trigPin as an Output
  pinMode(echoPin, INPUT); // Sets the echoPin as an Input
  Serial.begin(9600); // Starts the serial communication
  Timer1.initialize(10000);
  Timer1.attachInterrupt(blinkmerah);
  lcd.init(); //initialize the lcd
  lcd.backlight(); //open the backlight 
  
  xTaskCreate(aTask,     "Task A",       256, NULL, tskIDLE_PRIORITY + 2, &Handle_aTask);
  xTaskCreate(bTask,     "Task B",       256, NULL, tskIDLE_PRIORITY + 1, &Handle_bTask);
  xTaskCreate(cTask,     "Task C",       256, NULL, tskIDLE_PRIORITY + 1, &Handle_bTask);
 
  // Start the RTOS, this function will never return and will schedule the tasks.
  vTaskStartScheduler(); 
}

void loop() {
  if (!stopTasks){
    lcd.clear();                 // clear display
    lcd.setCursor(0, 0);         // move cursor to   (0, 0)
    lcd.print("Distance: ");        // print message at (0, 0)
    lcd.setCursor(11, 0);         // move cursor to   (11, 0)
    lcd.print(distance);        // print message at (11, 0)
    lcd.setCursor(0, 1);         // move cursor to   (0, 0)
    lcd.print("Cahaya  : ");        // print message at (0, 0)
    lcd.setCursor(11, 1);         // move cursor to   (11, 0)
    lcd.print(cahaya);        // print message at (11, 0)
  }
  vTaskDelay(10 / portTICK_PERIOD_MS);
}


void blinkmerah(){    
  // read the state of the pushbutton value:

  buttonState = digitalRead(buttonPin);

  // check if the pushbutton is pressed. If it is, the buttonState is HIGH:
  if (buttonState == HIGH) {
    // turn LED on:
    digitalWrite(ledmerah, HIGH);
    stopTasks = true;
  } else {
    // turn LED off:
    digitalWrite(ledmerah, LOW);
    stopTasks = false;
  }
}