#include "shoot_control.h"
#include <string.h>
#include "can.h"
#include "component/filter.h"
#include "component/user_math.h"
#include <math.h>
#include "bsp/time.h"

static bool last_firecmd;

static inline void ScaleSumTo1(float *a, float *b) {
    float sum = *a + *b;
    if (sum > 1.0f) {
        float scale = 1.0f / sum;
        *a *= scale;
        *b *= scale;
    }
}


int8_t Shoot_SetMode(shoot_t *s, Shoot_Mode_t mode)
{
    if (s == NULL) {
        return -1; // 参数错误
    }
    s->mode=mode;
    return 0;
}

int8_t Shoot_ResetIntegral(shoot_t *s)
{
    if (s == NULL) {
        return -1; // 参数错误
    }
    for(int i=0;i<SHOOT_FRIC_NUM;i++)
    {	
        PID_ResetIntegral(&s->pid.fric_follow[i]);
        PID_ResetIntegral(&s->pid.fric_err[i]);
    }
    PID_ResetIntegral(&s->pid.trig);
    return 0;
}

int8_t Shoot_ResetCalu(shoot_t *s)
{
    if (s == NULL) {
        return -1; // 参数错误
    }
    for(int i=0;i<SHOOT_FRIC_NUM;i++)
    {	
        PID_Reset(&s->pid.fric_follow[i]);
        PID_Reset(&s->pid.fric_err[i]);
        LowPassFilter2p_Reset(&s->filter.fric.in[i], 0.0f);
        LowPassFilter2p_Reset(&s->filter.fric.out[i], 0.0f);
    }
//    PID_Reset(&s->pid.trig);
    LowPassFilter2p_Reset(&s->filter.trig.in, 0.0f);
    LowPassFilter2p_Reset(&s->filter.trig.out, 0.0f);
    return 0;
}

int8_t Shoot_ResetOutput(shoot_t *s)
{
    if (s == NULL) {
        return -1; // 参数错误
    }
    for(int i=0;i<SHOOT_FRIC_NUM;i++)
    {	
        s->output.out_follow[i]=0.0f;
        s->output.out_err[i]=0.0f;
        s->output.out_fric[i]=0.0f;
        s->output.lpfout_fric[i]=0.0f;
    }
    s->output.out_trig=0.0f;
    s->output.lpfout_trig=0.0f;
    return 0;
}

int8_t Shoot_CaluTargetRPM(shoot_t *s, float target_speed)
{
    if (s == NULL) {
        return -1; // 参数错误
    }
    s->target_variable.target_rpm=target_speed;
    return 0;
}
/**
 * \brief 根据发射弹丸数量及发射频率计算拨弹电机目标角度
 *
 * \param s 包含发射数据的结构体
 * \param num 需要发射的弹丸数量
 */
int8_t Shoot_CaluTargetAngle(shoot_t *s, Shoot_CMD_t *cmd)
{
    if (s == NULL  || s->shoot_Anglecalu.num_to_shoot == 0) {
        return -1; 
    }
    if(s->now - s->shoot_Anglecalu.time_last_shoot >= s->param->shot_delay_time && cmd->firecmd)
    {
        s->shoot_Anglecalu.time_last_shoot=s->now;
        s->target_variable.target_angle += s->param->trig_step_angle;
		if(s->target_variable.target_angle>M_PI)s->target_variable.target_angle-=M_2PI;
		else if((s->target_variable.target_angle<-M_PI))s->target_variable.target_angle+=M_2PI;
		s->shoot_Anglecalu.num_to_shoot--;
    }
    return 0;
}

int8_t Shoot_Init(shoot_t *s, Shoot_Params_t *param, float target_freq)
{
    if (s == NULL || param == NULL || target_freq <= 0.0f) {
        return -1; // 参数错误
    }
    s->param=param;

    BSP_CAN_Init();
    for(int i=0;i<SHOOT_FRIC_NUM;i++){
	MOTOR_RM_Register(&param->fric_motor_param[i]);
    PID_Init(&s->pid.fric_follow[i], KPID_MODE_CALC_D, target_freq,&param->fric_follow);
    LowPassFilter2p_Init(&s->filter.fric.in[i], target_freq, s->param->filter.fric.in);
    LowPassFilter2p_Init(&s->filter.fric.out[i], target_freq, s->param->filter.fric.out);
    }
	MOTOR_RM_Register(&param->trig_motor_param);
    PID_Init(&s->pid.trig, KPID_MODE_CALC_D, target_freq,&param->trig);
    
    LowPassFilter2p_Init(&s->filter.trig.in, target_freq, s->param->filter.trig.in);
    LowPassFilter2p_Init(&s->filter.trig.out, target_freq, s->param->filter.trig.out);
	
    memset(&s->shoot_Anglecalu,0,sizeof(s->shoot_Anglecalu));
    memset(&s->output,0,sizeof(s->output));

	return 0;
}

int8_t Chassis_UpdateFeedback(shoot_t *s)
{
    if (s == NULL) {
        return -1; // 参数错误
    }
    float rpm_sum=0.0f;
    for(int i = 0; i < SHOOT_FRIC_NUM; i++) {
        /* 更新摩擦电机反馈 */
        MOTOR_RM_Update(&s->param->fric_motor_param[i]);
		MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->fric_motor_param[i]);
		if(motor_fed!=NULL)
		{
			s->feedback.fric[i]=motor_fed->motor.feedback;
		}
        /* 滤波反馈rpm */
        s->feedback.fil_fric_rpm[i] = LowPassFilter2p_Apply(&s->filter.fric.in[i], s->feedback.fric[i].rotor_speed);
        /* 归一化rpm */
        s->feedback.fric_rpm[i] = s->feedback.fil_fric_rpm[i] / MAX_FRIC_RPM;
        if(s->feedback.fric_rpm[i]>1.0f)s->feedback.fric_rpm[i]=1.0f;
        if(s->feedback.fric_rpm[i]<-1.0f)s->feedback.fric_rpm[i]=-1.0f;
        /* 计算平均rpm */
        rpm_sum+=s->feedback.fric_rpm[i];
    }
    s->feedback.fric_avgrpm=rpm_sum/SHOOT_FRIC_NUM;
	/* 更新拨弹电机反馈 */
    MOTOR_RM_Update(&s->param->trig_motor_param);
	MOTOR_RM_t *motor_fed = MOTOR_RM_GetMotor(&s->param->trig_motor_param);
		if(motor_fed!=NULL)
		{
			s->feedback.trig=motor_fed->motor.feedback;
		}
    /* 将多圈角度归化到单圈 (-M_PI, M_PI) */
		s->feedback.trig_angle_cicle = s->feedback.trig.rotor_abs_angle;
		s->feedback.trig_angle_cicle = fmod(s->feedback.trig_angle_cicle, M_2PI); // 将角度限制在 [-2π, 2π]
		if (s->feedback.trig_angle_cicle > M_PI) {
		s->feedback.trig_angle_cicle -= M_2PI; // 调整到 [-π, π]
		}else if (s->feedback.trig_angle_cicle < -M_PI) {
		s->feedback.trig_angle_cicle += M_2PI; // 调整到 [-π, π]
		}
		
//    s->feedback.trig_angle_cicle = fmodf(s->feedback.trig.rotor_abs_angle, M_2PI);
//    if(s->feedback.trig_angle_cicle<0.0f)
//    {
//        s->feedback.trig_angle_cicle+=M_2PI;
//    }
//    s->feedback.trig_angle_cicle = s->feedback.trig.rotor_abs_angle;
//    CircleAdd(&s->feedback.trig_angle_cicle, 0.0f, M_2PI);

    //
    s->feedback.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.rotor_speed);
    s->feedback.trig_rpm = s->feedback.trig.rotor_speed / MAX_TRIG_RPM;
    if(s->feedback.trig_rpm>1.0f)s->feedback.trig_rpm=1.0f;  //如果单环效果好就删
    if(s->feedback.trig_rpm<-1.0f)s->feedback.trig_rpm=-1.0f;
    //
    s->errtosee = s->feedback.fric[0].rotor_speed - s->feedback.fric[1].rotor_speed;
	return 0;
}
float a;
int8_t Shoot_Control(shoot_t *s, Shoot_CMD_t *cmd)
{
    if (s == NULL || cmd == NULL) {
        return -1; // 参数错误
    }
    s->now = BSP_TIME_Get_us() / 1000000.0f;
    s->dt = (BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f;
    s->lask_wakeup = BSP_TIME_Get_us();
//    s->running_state = cmd->state;
	s->online = cmd->online;
    if(!s->online /*|| s->mode==SHOOT_MODE_SAFE*/){
        for(int i=0;i<SHOOT_FRIC_NUM;i++)
        {	
            MOTOR_RM_Relax(&s->param->fric_motor_param[i]);
        }
        MOTOR_RM_Relax(&s->param->trig_motor_param);
    }
    else{
		a=CircleError(s->target_variable.target_angle, s->feedback.trig_angle_cicle, M_2PI);
        switch(s->running_state)
        {
            case SHOOT_STATE_IDLE:/*熄火等待*/
                for(int i=0;i<SHOOT_FRIC_NUM;i++)
                {	
                    PID_ResetIntegral(&s->pid.fric_follow[i]);
                    s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],0.0f,s->feedback.fric_rpm[i],0,s->dt);
                    s->output.out_fric[i]=s->output.out_follow[i];
                    s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
                    MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
                }
                s->output.out_trig=PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt);
                MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.out_trig);
                if(cmd->ready)
                    {   
                        Shoot_ResetCalu(s);
//                        Shoot_ResetIntegral(s);
//                        Shoot_ResetOutput(s);
                        s->running_state=SHOOT_STATE_READY;
                    }
                break;
            case SHOOT_STATE_READY:/*准备射击*/
                for(int i=0;i<SHOOT_FRIC_NUM;i++)
                {	/* 计算跟随输出、计算修正输出 */ 
                    s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
                    s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
                    /* 按比例缩放并加和输出 */
                    ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);                    
                    s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
                    /* 滤波 */
                    s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
                    /* 输出 */
                    MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
                }
                /* 拨弹电机输出 */
                s->output.out_trig=PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt);
                MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.out_trig);
                
                /* 检查状态机 */
                if(!cmd->ready)
                    {
//                        Shoot_ResetCalu(s);
//                        Shoot_ResetOutput(s);
                        s->running_state=SHOOT_STATE_IDLE;
                    }
                    else if(last_firecmd==false&&cmd->firecmd==true)
                    {
                        Shoot_ResetCalu(s);
                        Shoot_ResetOutput(s);
                        s->running_state=SHOOT_STATE_FIRE;
                        s->shoot_Anglecalu.num_to_shoot+=1;
					
                    }
                break;
            case SHOOT_STATE_FIRE:
				Shoot_CaluTargetAngle(s, cmd);
                for(int i=0;i<SHOOT_FRIC_NUM;i++)
                {	
                    s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i],s->target_variable.target_rpm/MAX_FRIC_RPM,s->feedback.fric_rpm[i],0,s->dt);
                    s->output.out_err[i]=PID_Calc(&s->pid.fric_err[i],s->feedback.fric_avgrpm,s->feedback.fric_rpm[i],0,s->dt);
                    ScaleSumTo1(&s->output.out_follow[i], &s->output.out_err[i]);
                    s->output.out_fric[i]=s->output.out_follow[i]+s->output.out_err[i];
                    s->output.lpfout_fric[i] = LowPassFilter2p_Apply(&s->filter.fric.out[i], s->output.out_fric[i]);
                    MOTOR_RM_SetOutput(&s->param->fric_motor_param[i], s->output.lpfout_fric[i]);
                }
                s->output.out_trig=PID_Calc(&s->pid.trig,s->target_variable.target_angle,s->feedback.trig_angle_cicle,0,s->dt);
                MOTOR_RM_SetOutput(&s->param->trig_motor_param, s->output.out_trig);
                if(!cmd->firecmd)
                    {
                        Shoot_ResetCalu(s);
                        Shoot_ResetOutput(s);
                        s->running_state=SHOOT_STATE_READY;
                    }
                break;
            default:
                s->running_state=SHOOT_STATE_IDLE;
                break;
        }
    }
	MOTOR_RM_Ctrl(&s->param->fric_motor_param[0]);
    last_firecmd = cmd->firecmd;
    return 0;
}