from machine import Pin, I2C, PWM
from utime import sleep
from lcd_api import LcdApi
from pico_i2c_lcd import I2cLcd
import dht
import utime

# Ultrasonic sensor pins
TRIGGER_PIN = 3
ECHO_PIN = 2

# Servo motor pin
SERVO_PIN = 22

# Buzzer pin
BUZZER_PIN = 7

# Initialize ultrasonic sensor pins
trigger = Pin(TRIGGER_PIN, Pin.OUT)
echo = Pin(ECHO_PIN, Pin.IN)

# Initialize servo motor
servo = PWM(Pin(SERVO_PIN))
servo.freq(50)

# Initialize buzzer
buzzer = Pin(BUZZER_PIN, Pin.OUT)

# LCD setup
I2C_ADDR = 0x27
I2C_NUM_ROWS = 2
I2C_NUM_COLS = 16
i2c = I2C(0, sda=Pin(0), scl=Pin(1), freq=400000)
lcd = I2cLcd(i2c, I2C_ADDR, I2C_NUM_ROWS, I2C_NUM_COLS)
lcd.backlight_on()

# Motion sensor pin and LED pin
MOTION_PIN = Pin(16, Pin.IN)
LED = Pin(15, Pin.OUT)

# DHT22 temperature and humidity sensor pin
sensor = dht.DHT22(Pin(5))

# Display welcome message on LCD
lcd.clear()
lcd.putstr("Welcome IOT")
sleep(2)  # Display for 2 seconds

def measure_distance():
    trigger.low()
    utime.sleep_us(2)
    trigger.high()
    utime.sleep_us(10)
    trigger.low()

    while echo.value() == 0:
        signal_off = utime.ticks_us()
    while echo.value() == 1:
        signal_on = utime.ticks_us()

    time_elapsed = utime.ticks_diff(signal_on, signal_off)
    distance_cm = (time_elapsed * 0.0343) / 2
    return distance_cm

def set_servo_position(angle):
    duty = int((angle / 18.0) + 2.5)
    servo.duty_u16(duty * 65535 // 100)
    utime.sleep(1)
    if angle == 180:  # If gate is opening
        buzzer.on()  # Turn on the buzzer
        sleep(0.5)    # Buzzer on for 0.5 seconds
        buzzer.off() # Turn off the buzzer

try:
   
    while True:
        # Measure distance using ultrasonic sensor
        distance = measure_distance()
        if distance < 10:  
            lcd.clear()
            lcd.putstr("Object detected! Opening gate..")
            set_servo_position(180)  # Open gate
        else:
            lcd.clear()
            lcd.putstr("No object detected. Closing gate...")
            set_servo_position(90)  # Close gate
            sleep(3)
        
        # Display temperature and humidity on LCD
        sensor.measure()
        lcd.clear()
        lcd.putstr(f"Temp: {sensor.temperature():.1f}")
        lcd.move_to(0, 1)
        sleep(3)
        lcd.putstr(f"Humidity: {sensor.humidity():.1f}")
        sleep(3)

        # Check motion sensor
        if MOTION_PIN.value():
            lcd.clear()
            lcd.putstr("Motion Detected (LED ON)")
            LED.on()  # Turn on the LED when motion is detected
            sleep(1)  # Keep the LED on for 1 second
        else:
            lcd.clear()
            lcd.putstr("No Motion")
            LED.off()  # Turn off the LED when no motion is detected
        
        sleep(5)  # Wait for 5 seconds between measurements