#include <LiquidCrystal.h>
#include <Arduino_FreeRTOS.h>

int leds[] = {14,15,16,17,18,19,20};
bool sleds[] = {LOW,LOW,LOW,LOW,LOW,LOW,LOW,LOW};

int sonarTrig = 10;
int sonarEcho = 9;
int buzina = 13;


int distancia = 0;
int som[] = {0, 232};
bool momentoSom = LOW;

int currentTime, previousTime = 0;
int currentTimeS, previousTimeS = 0;


LiquidCrystal lcd(8,7,6,5,4,3);


void setup() {
  for(int i = 0; i < 8; i++) {pinMode(leds[i], OUTPUT);} // Iniciando os LEDS
  pinMode(sonarTrig, OUTPUT); pinMode(sonarEcho, INPUT);  pinMode(buzina, OUTPUT);
  Serial.begin(9600);
  lcd.begin(16, 2);
  lcd.print("Distancia : ");
  
  
  xTaskCreate(distance, "distance",128, NULL, 3, NULL);
  xTaskCreate(mostrarLcd, "lcd", 128, NULL, 2, NULL);
  xTaskCreate(mainMethod, "main", 128, NULL, 1, NULL);

}


void distance(void *pvParameters){
  int tempo;
  while(1) {
    digitalWrite(sonarTrig, 0);
    digitalWrite(sonarTrig, 1);
    digitalWrite(sonarTrig, 0);
    tempo = pulseIn(sonarEcho, 1); // velocidade metros/microssegundos
    distancia = tempo/58.2;  
    Serial.println(distancia);
    delay(1000);
  }
}

void piscarLeds(int ini, int f, int interval) {
  apagarLeds(ini, f);
  currentTime = millis();
  if((currentTime - previousTime) >= interval) {
    previousTime = currentTime;
    for(int i = ini; i < f; i ++) {
      sleds[i] = !sleds[i];
      digitalWrite(leds[i], sleds[i]);
    }
  }
}

void apagarLeds(int ini, int f) {
  for(int i = 0; i < 9; i++) {
    if(i < ini || i >= f) {
      sleds[i] = LOW;
      digitalWrite(leds[i], sleds[i]);
    }
  }
}


void mostrarLcd(void *pvParameters) {
  while(1) {
    lcd.setCursor(0,1);
    lcd.print("                ");
    lcd.setCursor(0,1);
    lcd.print(distancia); 
    delay(1000);
  }
}

void loop() {

}

void mainMethod(void *pvParameters) {
  //distancia = distance();
  //mostrarLcd();
  //Serial.println(distancia);
  while(1) {
  if(distancia < 30) {
    piscarLeds(0, 2, 500);
    tone(buzina, 232);
    //tocar(0);
       
  }else if(distancia < 100) {
    piscarLeds(2,5, 1000);
    currentTimeS = millis();
    if((currentTimeS - previousTimeS) >= 500) {
      previousTimeS = currentTimeS;
      if(momentoSom == 1) tone(buzina, 232);
      else noTone(buzina);
      momentoSom = !momentoSom;
    }
  }else {
    piscarLeds(5, 8, 0);
    noTone(buzina);
  }
  //delay(500);
  }
}