#include "Chassis.h"
#include "gpio.h"
#include "user_math.h"
#include "bsp_buzzer.h"
#include "bsp_delay.h"






/*机器人坐标系，向前x，右y，上yaw
   不同于nuc (前x，左y，上yaw)                          */
/*          
               x
               |
                 --y


*/

static int8_t Chassis_SetCtrl(Chassis_t *c,CMD_t *ctrl){
	if (c == NULL) return CHASSIS_ERR_NULL; /*主结构体不能为空 */
  if (ctrl->CMD_CtrlType== c->chassis_ctrl.ctrl && ctrl->CMD_mode == c->chassis_ctrl.mode) return CHASSIS_OK; /*模式未改变直接返回*/
  //此处源代码处做了pid的reset 待添加
   c->chassis_ctrl.ctrl =ctrl->CMD_CtrlType ;
   c->chassis_ctrl.mode =ctrl->CMD_mode ;
   
   return CHASSIS_OK;
}    //设置控制模式


/*该函数用来更新can任务获得的电机反馈值*/

int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
  if (c == NULL) return CHASSIS_ERR_NULL;
  if (can == NULL) return CHASSIS_ERR_NULL;
  for (uint8_t i = 0; i < 4; i++) 
 {
	c->motorfeedback.rotor_rpm3508[i] = can->motor.chassis_motor3508.as_array[i].rotor_speed;
	c->motorfeedback.rotor_current3508[i] = can->motor.chassis_motor3508.as_array[i].torque_current;
 }
 
 
   c->motorfeedback.rotor_pit6020angle = can->motor.pit6020.as_array[0].rotor_ecd;
   c->motorfeedback.rotor_pit6020rpm   = can->motor.pit6020.as_array[0].rotor_speed;
 
   c->motorfeedback.rotor_gimbal_yawangle = can->motor.chassis6020.as_array[0].rotor_ecd;
   c->motorfeedback.rotor_gimbal_yawrpm = can->motor.chassis6020.as_array[0].rotor_speed;
 
   c->motorfeedback.rotor_gimbal_pitchangle = can->motor.chassis6020.as_array[1].rotor_ecd;
   c->motorfeedback.rotor_gimbal_pitchrpm = can->motor.chassis6020.as_array[1].rotor_speed;
 
// c->sick_dis[0] = can->sickfed.raw_dis[0];
// c->sick_dis[1] = can->sickfed.raw_dis[1];
// c->sick_dis[2] = can->sickfed.raw_dis[2];
// c->sick_dis[3] = can->sickfed.raw_dis[3];

  return CHASSIS_OK;
}


int8_t Chassis_init(Chassis_t *c,const Chassis_Param_t *param,float target_freq)
{
   if (c == NULL) return CHASSIS_ERR_NULL;

   c->param = param; 	/*初始化参数 */
	
		 for(int i =0 ; i < 4 ; i++)
	{
		   PID_init(&(c->pid.chassis_3508VecPID[i]),PID_POSITION_D,&(c->param->M3508_param));  //带D项滤波
	}

	    PID_init(&(c->pid.chassis_PICKWzPID_HIGN),PID_POSITION,&(c->param->chassis_PICKWzPID_HIGN_param));
	
		  PID_init(&(c->pid.chassis_PICKWzPID_LOW),PID_POSITION,&(c->param->chassis_PICKWzPID_LOW_param));

	
	    PID_init(&(c->pid.sick_CaliforYPID),PID_POSITION,&(c->param->Sick_CaliYparam));
	  
	    PID_init(&(c->pid.sick_CaliforXPID),PID_POSITION,&(c->param->Sick_CaliXparam));
	
	    LowPassFilter2p_Init(&(c->filled[0]),target_freq,80.0f);  //给角加速度做滤波
	
	
	    LowPassFilter2p_Init(&(c->filled[1]),target_freq,80.0f); //给w 做滤波
	
	    LowPassFilter2p_Init(&(c->filled[2]),target_freq,80.0f);  //给y做滤波
	
	    LowPassFilter2p_Init(&(c->filled[3]),target_freq,80.0f); //给x 做滤波
			
		//
	
	
	 return CHASSIS_OK;
}


void Chassis_speed_calculate(Chassis_t *c,fp32 Vx,fp32 Vy,fp32 Vw)  //底盘逆运动学的解算
{		
		c->hopemotorout.OmniSpeedOut[3] = -Vx+Vy+Vw;//右前
		c->hopemotorout.OmniSpeedOut[0] = -Vx-Vy+Vw;//右后
		c->hopemotorout.OmniSpeedOut[2] = Vx-Vy+Vw;//左后
		c->hopemotorout.OmniSpeedOut[1] = Vx+Vy+Vw;//左前
}

//bool isArrive(fp32 real_pos,fp32 target_pos,fp32 mistake)
//{
//	uint16_t xArrive = 0, yArrive = 0;
//	xArrive = abs_float_double(real_pos,target_pos) < mistake ? 1:0;
//	yArrive = abs_float_double(real_pos,target_pos) < mistake ? 1:0;
//	if(xArrive && yArrive) return true;
//	else return false;
//}

int8_t Chassis_Control(Chassis_t *c,CMD_t *ctrl,CAN_Output_t *out)
{
	if(c ==NULL)  return CHASSIS_ERR_NULL;
	if(ctrl ==NULL)  return CHASSIS_ERR_NULL;
	   

	  Chassis_SetCtrl(c,ctrl);
		 
	 //此处对imu加滤波做修正
	  c->pos088.bmi088.filtered_gyro.z =LowPassFilter2p_Apply(&(c->filled[0]),c->pos088.bmi088.gyro.z);
	  
	switch (c->chassis_ctrl .ctrl)
	{
	  case RCcontrol: //手动控制
		
/*     
	在cmd里对数据进行处理 包括方向和油门	  
	  6000为全向轮的倍率,遥控器坐标系和机器人坐标系不同*/
		if(c->chassis_ctrl .mode == Pitch){
	    c->move_vec.Vw = 0;
		  c->move_vec.Vx = 0;
		  c->move_vec.Vy = 0;
		}
		else if(c->chassis_ctrl .mode == UP_Adjust)
		{
	    c->move_vec.Vw = ctrl->Vw*6000;
		  c->move_vec.Vx = 0;
		  c->move_vec.Vy = 0;			
		}
		else {
	    c->move_vec.Vw = ctrl->Vw*6000;
		  c->move_vec.Vx = ctrl->Vy*6000;
		  c->move_vec.Vy = ctrl->Vx*6000;
		}
			
	

	  break;

  case AUTO : //在自动模式下
		
		switch(c->chassis_ctrl.mode ){	 
	 

	  case AUTO_NAVI:  //自动雷达
//		  //这套是全向轮的方向,一定要注意这里的xy方向
	    c->move_vec.Vw =ctrl->cmd_MID360 .posw *1000 ;
	    c->move_vec.Vy =-ctrl->cmd_MID360.posy *1000 ;
	    c->move_vec.Vx =-ctrl->cmd_MID360.posx *1000 ;
//	    c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vw);
//	    c->move_vec.Vy =LowPassFilter2p_Apply(&(c->filled[2]),c->move_vec.Vy);
//	    c->move_vec.Vx =LowPassFilter2p_Apply(&(c->filled[3]),c->move_vec.Vx);
//	
//	    c->move_vec.Vw =PID_calc(&(c->pid.chassis_NaviWzPID),c->pos088.bmi088.gyro.z,c->move_vec.Vw);
//	    c->move_vec.Vx =PID_calc(&(c->pid.chassis_NaviVxPID),c->pos088.bmi088.accl.y,c->move_vec.Vx);
//	    c->move_vec.Vy =PID_calc(&(c->pid.chassis_NaviVyPID),c->pos088.bmi088.accl.x,c->move_vec.Vy);
//	   //电机速度限幅

  abs_limit_fp(&c->move_vec.Vx,2000.0f);

  abs_limit_fp(&c->move_vec.Vy,2000.0f);

  abs_limit_fp(&c->move_vec.Vw,2000.0f);

	   if(ctrl->status[5] ==1)
		 {
			c->move_vec.Vw = c->move_vec.Vw * 0.8f;
			c->move_vec.Vx = c->move_vec.Vx * 0.5f; 
			c->move_vec.Vy = c->move_vec.Vy * 0.5f; 	 
		 }

	    break;
		 
		 	case AUTO_PICK:  //自动视觉
	    
	    c->move_vec.Vx =ctrl->Vx*6000 ;
	    c->move_vec.Vy =ctrl->Vy *6000;	
	    c->move_vec .Vw = -ctrl->cmd_pick  .posx;
	
	
	
      if(abs_value(ctrl ->cmd_pick .posx )>20)
			{
			  c->move_vec.Vw =PID_calc(&(c->pid.chassis_PICKWzPID_HIGN),(c->move_vec .Vw) ,0);
			
			}
			else if(abs_value(ctrl ->cmd_pick .posx )<0.1)
			{
				c->move_vec.Vw =0;
			}
			else 
				c->move_vec.Vw =PID_calc(&(c->pid.chassis_PICKWzPID_LOW),(c->move_vec .Vw) ,0);

			  c->move_vec.Vw =LowPassFilter2p_Apply(&(c->filled[1]),c->move_vec.Vw);

			
       	c->vofa_send[0]=c->move_vec.Vw;
	      c->vofa_send[1]=-ctrl->cmd_pick .posx;
		


	
     
     break ;	
		


		}
		break ;
			 
}
	
	
   //电机速度限幅

  abs_limit_fp(&c->move_vec.Vx,6000.0f);

  abs_limit_fp(&c->move_vec.Vy,6000.0f);

  abs_limit_fp(&c->move_vec.Vw,6000.0f);
  Chassis_speed_calculate(c,c->move_vec.Vx,c->move_vec.Vy,c->move_vec.Vw);
	
	
		for (uint8_t i = 0 ; i <4 ; i++)
	{
		 c->final_out.final_3508out[i] = PID_calc(&(c->pid.chassis_3508VecPID[i]),c->motorfeedback.rotor_rpm3508[i],c->hopemotorout.OmniSpeedOut[i]);
	 
		 out->motor_CHASSIS3508 .as_array[i] = c->final_out.final_3508out[i];
	}
	

//	c->vofa_send[0]=c->pos088.bmi088.gyro.x;
//	c->vofa_send[1]=c->pos088.bmi088.gyro.y;
//	c->vofa_send[2]=c->pos088.bmi088.gyro.z;
//	c->vofa_send[3]=c->pos088.bmi088.accl.x;
//	c->vofa_send[4]=c->pos088.bmi088.accl.y;
//	c->vofa_send[5]=c->pos088.bmi088.accl.z;

	return CHASSIS_OK;

}