from machine import Pin, I2C
import utime
import time
from imu import MPU6050
import network
from umqttsimple import MQTTClient
from servo import Servo

print("Hello, Pi Pico W!")

# WiFi connect code here (same as your current code, without ssl)

# MQTT setup (try removing ssl=True if no ussl available)

# Setup IMU
i2c = I2C(0, sda=Pin(4), scl=Pin(5), freq=400000)
imu = MPU6050(i2c)

# Setup Relay
RELAY_CTRL_PIN = 16
relay = Pin(RELAY_CTRL_PIN, Pin.OUT)

# Ultrasonic sensor pins
trigger = Pin(26, Pin.OUT)
echo = Pin(27, Pin.IN)

# PIR motion sensor
pir = Pin(0, Pin.IN)

# Servo
SERVO_CTRL_PIN = 27
sg90_servo = Servo(pin=SERVO_CTRL_PIN)

def ultra():
    trigger.low()
    utime.sleep_us(2)
    trigger.high()
    utime.sleep_us(5)
    trigger.low()

    while echo.value() == 0:
        signaloff = utime.ticks_us()
    while echo.value() == 1:
        signalon = utime.ticks_us()

    timepassed = signalon - signaloff
    distance = (timepassed * 0.0343) / 2
    return distance

def sub_callback(topic, msg):
    print("Received: {}:{}".format(topic.decode(), msg.decode()))

# Connect WiFi (your existing code)

# Setup MQTT client, set callback, connect, subscribe (your code here)

def main_loop():
    while True:
        # Read IMU data
        ax = round(imu.accel.x, 2)
        ay = round(imu.accel.y, 2)
        az = round(imu.accel.z, 2)
        gx = round(imu.gyro.x)
        gy = round(imu.gyro.y)
        gz = round(imu.gyro.z)
        tem = round(imu.temperature, 2)
        print(ax, ay, az, gx, gy, gz, tem)

        # Relay control example (toggle every 4 seconds)
        relay.high()
        print("Relay ON - Parking Available")
        utime.sleep(2)
        relay.low()
        print("Relay OFF - Parking Unavailable")
        utime.sleep(2)

        # Ultrasonic sensor distance
        dist = ultra()
        print(f"Distance: {dist:.2f} cm")

        # PIR motion sensor state
        motion_state = pir.value()
        print(f"Motion detected: {motion_state}")

        # Servo movement
        sg90_servo.move(0)
        utime.sleep(1)
        sg90_servo.move(90)
        utime.sleep(1)

        # Sleep a bit before next loop iteration
        utime.sleep(0.5)

if __name__ == "__main__":
    main_loop()



#code for ultrasonic sound sensor with raspberry pi pico w in micropython

trigger = Pin(26, Pin.OUT)
echo = Pin(27, Pin.IN)
def ultra():
        trigger.low()
        utime.sleep_us(2)
        trigger.high()
        utime.sleep_us(5)
        trigger.low()
while echo.value() ==0:
            signaloff = utime.ticks_us()
while echo.value() ==1:
      signalon = utime.ticks_us()
      timepassed = signalon-signaloff 
      distance = (timepassed * 0.0343) / 2
print("The distance from object is ",distance, "cm")
while True: 
       ultra()
       utime.sleep(1)



##code for PIR Motion sensor 
pir = Pin(0,Pin.IN)
while True:
    motion_state=pir.value()
    print(motion_state) #0 - no motion; 1 - there is motion
utime.sleep(1.0) 

from time import sleep
from servo import Servo

'''
from machine import Pin, PWM
pwm = PWM(Pin(27))
pwm.freq(50)

while True:
    for position in range(1000,9000,50):
        pwm.duty_u16(position)
        sleep(0.01)
    for position in range(9000,1000,-50):
        pwm.duty_u16(position)
        sleep(0.01)
'''

SERVO_CTRL_PIN = 27
sg90_servo = Servo(pin=SERVO_CTRL_PIN)
while True:
    sg90_servo.move(0)  # turns the servo to 0°.
    sleep(1)
    sg90_servo.move(90)  # turns the servo to 90°.
    sleep(1)