// Include seperate arduino libraries
#include <DS3232RTC.h>
#include <LiquidCrystal.h>
#include <SPI.h>
#include <SD.h>

// Defines pin numbers
const int Button1 = A2;
const int LEDr  = A3;
const int Button2 = A0;
const int LEDb = A1;
const int CS = 10;
const int trigPin = 5;
const int echoPin = 4;
const int rs = 2,
          en = 3,
          d4 = 6,
          d5 = 7,
          d6 = 8,
          d7 = 9;

// Defines variables
long duration;
int distance;
int safetyDistance;
int detectionDistance;
int currentButton1State;
int lastButton1State;
int currentButton2State;
int lastButton2State;
int DockingCounter;
int a,
    b,
    c,
    d;

// Sets up LCD
LiquidCrystal lcd(rs, en, d4, d5, d6, d7);

// Define Real Time Clock device
DS3232RTC RTC;

// Define the SD card file
File myFile;

void setup() {
  // Define Pin modes
  pinMode(echoPin, INPUT);
  pinMode(Button1, INPUT);
  pinMode(Button2, INPUT);
  pinMode(trigPin, OUTPUT);
  pinMode(LEDr, OUTPUT);
  pinMode(LEDb, OUTPUT);
  pinMode(CS, OUTPUT);

  lcd.begin(16, 2);
  RTC.begin();
  setSyncProvider(RTC.get);

  //Set Docking Counter
  DockingCounter = 0;

  //Set detection distance of the UltraSonic Sensor
  detectionDistance = 10;

  // If the time is wrong then set time with https://www.youtube.com/watch?v=Z-66x-9-7T0

  // Initiate RTC
  if (timeStatus() != timeSet) {
    lcd.setCursor(0, 0);
    lcd.print("RTC sync failed");
    delay(2000);
    lcd.clear();
  }

  else {
    while (!Serial) {
      ;
    }

    if (SD.begin()) {
      lcd.setCursor(0, 0);
      lcd.print("RTC synced");
      lcd.setCursor(0, 1);
      lcd.print("SD card ready");
      myFile = SD.open("test.csv", FILE_WRITE);
      delay(3000);
      lcd.clear();

      myFile.print("Mowing Coverage");
      myFile.print(',');
      myFile.print("Mower Docked/Undocked");
      myFile.print(',');
      myFile.print("TimeStamp");
      myFile.print(',');
      myFile.print("Date");
      myFile.println(' ');
      myFile.close();
    }

    else {
      lcd.setCursor(0, 0);
      lcd.print("SD card missing");
      delay(3000);
      lcd.clear();
    }
  }
}

void loop() {
  distanceChecker();

  // If the mower docks
  if (safetyDistance <= detectionDistance) {
    // Displays timestamp for mower docking on the LCD
    lcd.setCursor(0, 0);
    lcd.print("Mower docked:");
    lcd.setCursor(0, 1);
    digitalClockDisplay();
    digitalTimeStampSet();

    // Displays timestamp for mower docking on SD card
    myFile = SD.open("test.csv", FILE_WRITE);
    if (myFile) {
      myFile.print(DockingCounter);
      myFile.print(',');
      myFile.print("Docked");
      myFileClockDisplay();
      myFile.close();
    }

    else {
      delay(5000);
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("SD card failed");
    }

    delay(5000);
    lcd.clear();

    lastButton1State = currentButton1State;
    currentButton1State = digitalRead(Button1);

    distanceChecker();

    // Wait until the mower undocks
    while (safetyDistance <= detectionDistance) {
      lastButton1State = currentButton1State;
      currentButton1State = digitalRead(Button1);

      distanceChecker();

      // Recalls the timestamp for when the mower docked
      if (lastButton1State == LOW && currentButton1State == HIGH) {
        digitalWrite(LEDr, HIGH);
        lcd.setCursor(0, 0);
        lcd.print("Mower docked:");
        lcd.setCursor(0, 1);
        digitalTimeStamp();
        delay(5000);
        lcd.clear();
        lcd.setCursor(0, 0);
        lcd.print("Mowing Coverage:");
        lcd.setCursor(0, 1);
        lcd.print(DockingCounter);
        delay(3000);
        digitalWrite(LEDr, LOW);
        lcd.clear();
      }

      delay(100);
    }

    // Displays the timestamp for the mower undocking on LCD
    digitalWrite(LEDr, LOW);
    lcd.setCursor(0, 0);
    lcd.print("Mower undocked:");
    lcd.setCursor(0, 1);
    digitalClockDisplay();
    digitalTimeStampSet();
    DockingCounter ++;

    // Displays the timestamp for the mower undocking on the SD card
    myFile = SD.open("test.csv", FILE_WRITE);
    if (myFile) {
      myFile.println();
      myFile.print(DockingCounter);
      myFile.print(',');
      myFile.print("Undocked");
      myFileClockDisplay();
      myFile.close();
    }

    else {
      delay(5000);
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("SD card failed");
    }

    delay(5000);
    lcd.clear();
  }

  // When the mower is out in the garden
  else if (safetyDistance > detectionDistance) {
    lastButton1State = currentButton1State;
    currentButton1State = digitalRead(Button1);

    digitalWrite(LEDr, LOW);

    if (lastButton1State == LOW && currentButton1State == HIGH) {
      digitalWrite(LEDr, HIGH);
      lcd.setCursor(0, 0);
      lcd.print("Mower undocked:");
      lcd.setCursor(0, 1);
      digitalTimeStamp();
      delay(5000);
      lcd.clear();
      lcd.setCursor(0, 0);
      lcd.print("Mowing Coverage:");
      lcd.setCursor(0, 1);
      lcd.print(DockingCounter);
      delay(3000);
      digitalWrite(LEDr, LOW);
      lcd.clear();
    }
  }

  lastButton2State = currentButton2State;
  currentButton2State = digitalRead(Button2);

  if (lastButton2State == LOW && currentButton2State == HIGH) {
    DockingCounter = 0;
    digitalWrite(LEDb, HIGH);
    delay(1500);
    digitalWrite(LEDb, LOW);
  }
}

void distanceChecker() {
  // 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;
  safetyDistance = distance;
}

void digitalTimeStampSet() {
  a = hour();
  b = minute();
  c = second();
  d = day();
}

void digitalTimeStamp() {
  lcd.print(a);
  digitalPrintDigits(b);
  digitalPrintDigits(c);
  lcd.print(' ');
  lcdPrintMonth();
  lcd.print(d);
  lcd.print(' ');
  lcd.print(' ');
  lcd.print(' ');
  lcd.println();
}

void digitalClockDisplay() {
  lcd.print(hour());
  digitalPrintDigits(minute());
  digitalPrintDigits(second());
  lcd.print(' ');
  lcdPrintMonth();
  lcd.print(day());
  lcd.print(' ');
  lcd.print(' ');
  lcd.print(' ');
  lcd.println();
}

void digitalPrintDigits(int digits) {
  lcd.print(':');
  if (digits < 10) {
    lcd.print('0');
  }
  lcd.print(digits);
}

void myFileClockDisplay() {
  myFile.print(',');
  myFile.print(hour());
  myFilePrintDigits(minute());
  myFilePrintDigits(second());
  myFile.print(',');
  myFilePrintMonth();
  myFile.print(day());
  myFile.println();
}

void myFilePrintDigits(int digits) {
  myFile.print(':');
  if (digits < 10) {
    myFile.print('0');
  }
  myFile.print(digits);
}

void lcdPrintMonth() {
  String monthNames[] = {"", "Jan", "Feb", "Mar", "Apr", "May", "Jun", "Jul", "Aug", "Sep", "Oct", "Nov", "Dec"};
  int currentMonth = month();
  lcd.print(monthNames[currentMonth]);
  lcd.print(' ');
}

void myFilePrintMonth() {
  String monthNames[] = {"", "Jan", "Feb", "Mar", "Apr", "May", "Jun", "Jul", "Aug", "Sep", "Oct", "Nov", "Dec"};
  int currentMonth = month();
  myFile.print(monthNames[currentMonth]);
  myFile.print(' ');
}