from machine import Pin, PWM, ADC, I2C, time_pulse_us
import time
from i2c_lcd import I2cLcd
from lcd_api import LcdApi

# === Pin Setup ===
trig = Pin(20, Pin.OUT)
echo = Pin(21, Pin.IN)
pir = Pin(18, Pin.IN)
potensio = ADC(26)
servo = PWM(Pin(3))
servo.freq(50)
buzzer = PWM(Pin(12))
led = Pin(9, Pin.OUT)
button = Pin(5, Pin.IN, Pin.PULL_UP)

# === LCD Setup ===
i2c = I2C(0, scl=Pin(1), sda=Pin(0), freq=400000)
lcd = I2cLcd(i2c, 0x27, 2, 16)  # 2 baris x 16 karakter
lcd.clear()
lcd.putstr("Sistem Palang")

# === Global State ===
mode_potensio = False
servo_active = False
last_press = 0

# === Tombol Interrupt ===
def toggle_mode(pin):
    global mode_potensio, last_press
    now = time.ticks_ms()
    if time.ticks_diff(now, last_press) > 300:
        mode_potensio = not mode_potensio
        print(">> MODE:", "Potensio" if mode_potensio else "Ultrasonik")
        lcd.clear()
        lcd.putstr("Mode:\n")
        lcd.putstr("Potensio" if mode_potensio else "Ultrasonik")
        last_press = now

button.irq(trigger=Pin.IRQ_FALLING, handler=toggle_mode)

# === Servo Function ===
def set_servo(deg):
    min_duty = 1638
    max_duty = 8192
    duty = int(min_duty + (max_duty - min_duty) * deg / 180)
    servo.duty_u16(duty)

# === Distance Measurement ===
def get_distance():
    trig.low()
    time.sleep_us(2)
    trig.high()
    time.sleep_us(10)
    trig.low()
    try:
        pulse = time_pulse_us(echo, 1, 30000)
        distance = pulse * 0.0343 / 2
    except:
        distance = 999
    time.sleep(0.05)
    return distance

# === LED & Buzzer ===
def aktifkan_efek(aktif):
    if not aktif:
        led.value(0)
        buzzer.duty_u16(0)
        return

    if pir.value():
        # Ada gerakan = pelanggaran
        led.toggle()
        buzzer.freq(600)
        buzzer.duty_u16(30000)
        lcd.clear()
        lcd.putstr("Pelanggaran!")
        time.sleep(0.1)
        led.toggle()
        buzzer.duty_u16(0)
        time.sleep(0.1)
    else:
        # Normal berkedip lambat
        led.toggle()
        time.sleep(0.4)
        led.toggle()
        time.sleep(0.4)

# === Loop Utama ===
while True:
    if mode_potensio:
        val = potensio.read_u16()
        sudut = int(val / 65535 * 90)
        print("Potensio:", sudut)
        set_servo(sudut)
        servo_active = sudut >= 85
    else:
        jarak = get_distance()
        print("Jarak:", jarak)
        if jarak < 50:
            set_servo(90)
            servo_active = True
        else:
            set_servo(0)
            servo_active = False

    if servo_active:
        lcd.clear()
        lcd.putstr("Palang: Tutup")
    else:
        lcd.clear()
        lcd.putstr("Palang: Buka")

    aktifkan_efek(servo_active)