# -------------------------
# 3 LCD + 3 Sensores (Pico / MicroPython)
# -------------------------
from machine import Pin, I2C, SoftI2C, time_pulse_us
from time import sleep, sleep_us
from pico_i2c_lcd import I2cLcd

# -------------------------
# I2C LCD 1 (Hardware I2C0) -> GP0/GP1
# -------------------------
i2c0 = I2C(0, sda=Pin(0), scl=Pin(1), freq=100000)
addrs0 = i2c0.scan()
if not addrs0:
    raise RuntimeError("No se detecta LCD en I2C0 (SDA=GP0, SCL=GP1).")
I2C_ADDR0 = addrs0[0]
lcd1 = I2cLcd(i2c0, I2C_ADDR0, 2, 16)

# -------------------------
# I2C LCD 2 (Hardware I2C1) -> GP18/GP19
# -------------------------
i2c1 = I2C(1, sda=Pin(18), scl=Pin(19), freq=100000)
addrs1 = i2c1.scan()
if not addrs1:
    raise RuntimeError("No se detecta LCD en I2C1 (SDA=GP18, SCL=GP19).")
I2C_ADDR1 = addrs1[0]
lcd2 = I2cLcd(i2c1, I2C_ADDR1, 2, 16)

# -------------------------
# I2C LCD 3 (SoftI2C) -> GP20/GP21
# -------------------------
i2c2 = SoftI2C(sda=Pin(20), scl=Pin(21), freq=100000)
addrs2 = i2c2.scan()
if not addrs2:
    raise RuntimeError("No se detecta LCD en SoftI2C (SDA=GP20, SCL=GP21).")
I2C_ADDR2 = addrs2[0]
lcd3 = I2cLcd(i2c2, I2C_ADDR2, 2, 16)

# -------------------------
# Sensores ultrasónicos
# -------------------------
TRIG1 = Pin(7, Pin.OUT)
ECHO1 = Pin(6, Pin.IN)

TRIG2 = Pin(11, Pin.OUT)
ECHO2 = Pin(10, Pin.IN)

TRIG3 = Pin(9, Pin.OUT)
ECHO3 = Pin(8, Pin.IN)

def medir_distancia(trig: Pin, echo: Pin, timeout_us=30000):
    # Pulso de disparo (TRIG)
    trig.low()
    sleep_us(2)
    trig.high()
    sleep_us(10)
    trig.low()

    # Medir pulso en ECHO (en microsegundos)
    dur = time_pulse_us(echo, 1, timeout_us)

    # dur < 0 = timeout (sin eco)
    if dur < 0:
        return None

    # Distancia en cm (velocidad sonido ≈ 0.0343 cm/us)
    dist_cm = (dur * 0.0343) / 2
    return dist_cm

def mostrar(lcd, titulo, dist):
    lcd.clear()
    lcd.putstr(titulo + "\n")
    if dist is None:
        lcd.putstr("Sin eco")
    else:
        lcd.putstr("{:0.1f} cm".format(dist))

# Títulos por pantalla
tit1 = "Nivel S1:"
tit2 = "Nivel S2:"
tit3 = "Nivel S3:"

# -------------------------
# Loop principal
# -------------------------
while True:
    # Medimos de a uno para evitar interferencia (cross-talk)
    d1 = medir_distancia(TRIG1, ECHO1)
    sleep(0.07)

    d2 = medir_distancia(TRIG2, ECHO2)
    sleep(0.07)

    d3 = medir_distancia(TRIG3, ECHO3)
    sleep(0.07)

    # Mostrar en LCDs
    mostrar(lcd1, tit1, d1)
    mostrar(lcd2, tit2, d2)
    mostrar(lcd3, tit3, d3)

    # Consola
    print("S1:", d1 if d1 is not None else "Sin eco", "cm |",
          "S2:", d2 if d2 is not None else "Sin eco", "cm |",
          "S3:", d3 if d3 is not None else "Sin eco", "cm")

    sleep(0.2)