#include <Servo.h> //servo library
#include <DallasTemperature.h> // for temp 
#include <OneWire.h> // for temp (one digital wire)
#include <Adafruit_MPU6050.h> //accelerometer
#include <Adafruit_Sensor.h> //accelerometer
#include <Wire.h> //accelerometer
#include "SD.h" //file system
File root;
#define SPI_SPEED SD_SCK_MHZ(4)//SD card
#define CS_PIN 53//SD Card

#define PIN_TRIG 5
#define PIN_ECHO 4
int count = 0;
int mpu_6050[6] = {0,0,0,0,0,0};
//String formatted;
OneWire oneWire(3);
DallasTemperature temp_sensor(&oneWire);
Servo myServo;
Adafruit_MPU6050 mpu;
File textFile;

char buf[100];

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  Serial.print("Initializing SD card... ");
  if (!SD.begin(CS_PIN)) {
    Serial.println("Card initialization failed!");
    while (true);
  }
  Serial.println("initialization done.");

  Serial.println("Files in the card:");
  root = SD.open("/");
  printDirectory(root, 0);
  Serial.println("");

  // Example of reading file from the card:
  textFile = SD.open("wokwi.txt");
  if (textFile) {
    Serial.print("wokwi.txt: ");
    while (textFile.available()) {
      Serial.write(textFile.read());
    }
    textFile.close();
  } else {
    Serial.println("error opening wokwi.txt!");
  }
  while (!mpu.begin()) {
    Serial.println("MPU6050 not connected!");
    delay(1000);
  }
  Serial.println("MPU6050 ready!");
  pinMode(PIN_TRIG, OUTPUT);
  pinMode(PIN_ECHO, INPUT);
  temp_sensor.begin();
  myServo.attach(2);
}

sensors_event_t event;


void loop() {
  // count the number of transmissions
  count++;
  root = SD.open("/");
  textFile = SD.open("wokwi.txt", FILE_WRITE);

//Write code to read data from all the sensors listed in [Devices].

  //read temperature
  temp_sensor.requestTemperatures();
  float temp = temp_sensor.getTempCByIndex(0);
  //Serial.print("temp is: " + String(temp) + "\r\n");

  //Initialize the servo motor at 0 degrees.
  myServo.write(0);

  //read the distance from Ultrasonic sensor
  digitalWrite(PIN_TRIG, HIGH);
  delayMicroseconds(10);
  digitalWrite(PIN_TRIG, LOW);
  int duration = pulseIn(PIN_ECHO, HIGH);
  int distance=(duration / 58);

  //get accelerometer values
  mpu.getAccelerometerSensor()->getEvent(&event);
  mpu_6050[0] = event.acceleration.x;
  mpu_6050[1] = event.acceleration.y;
  mpu_6050[2] = event.acceleration.z;
  mpu_6050[3] = event.gyro.x;
  mpu_6050[4] = event.gyro.y;
  mpu_6050[5] = event.gyro.z;
  
  String formatted = String(count) + "_" + String(temp) + "_" + String(distance) + "_";
  for(int x=0; x<6;x++){
    //Serial.println(mpu_6050[x]);
    formatted += String(mpu_6050[x]) + "_";
  }
  //Serial.println(formatted);
  textFile.println(formatted);
  textFile.flush();
  textFile.close();
  textFile = SD.open("wokwi.txt");

  if (textFile) {
    Serial.print("wokwi.txt: ");
    while (textFile.available()) {
      Serial.write(textFile.read());
      
    }
    textFile.close();
  } else {
    Serial.println("error opening wokwi.txt!");
  }
  //change servo angle according to temperature
  while(count>99){
    if(temp>= 35){
      myServo.write(90);
    }
    else if(temp<35){
      myServo.write(0);
    }
  }
  delay(1000);
}

void printDirectory(File dir, int numTabs) {
  while (true) {

    File entry =  dir.openNextFile();
    if (! entry) {
      // no more files
      break;
    }
    for (uint8_t i = 0; i < numTabs; i++) {
      Serial.print('\t');
    }
    Serial.print(entry.name());
    if (entry.isDirectory()) {
      Serial.println("/");
      printDirectory(entry, numTabs + 1);
    } else {
      // files have sizes, directories do not
      Serial.print("\t\t");
      Serial.println(entry.size(), DEC);
    }
    entry.close();
  }
}