/*
 * 云台模组
 */

/* Includes ----------------------------------------------------------------- */
#include "gimbal.h"
#include "bsp/can.h"
#include "bsp/time.h"
#include <math.h> 
#include "component/filter.h"
#include "component/pid.h"
#include "device/motor_dm.h"
#include "device/motor_rm.h"
#include "module/config.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* Private function  -------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
#define YAW_MAX_OUTPUT   0.8f      /* Yaw轴(大疆电机)最大输出比例限制，范围：0.0 到 1.0 */
#define PIT_MAX_TORQUE   2.0f      /* Pitch轴(达妙电机)最大扭矩限制，单位：N·m (请根据实际情况调整) */
static LowPassFilter2p_t vision_yaw_lpf;
static LowPassFilter2p_t vision_pit_lpf;
static uint8_t is_vision_lpf_init = 0;
/**
 * \brief 设置云台模式
 *
 * \param c 包含云台数据的结构体
 * \param mode 要设置的模式
 *
 * \return 函数运行结果
 */
static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
  if (g == NULL)
    return -1;
  if (mode == g->mode)
    return GIMBAL_OK;

  PID_Reset(&g->pid.yaw_angle);
  PID_Reset(&g->pid.yaw_omega);
  PID_Reset(&g->pid.pit_angle);
  PID_Reset(&g->pid.pit_omega);
  LowPassFilter2p_Reset(&g->filter_out.yaw, 0.0f);
  LowPassFilter2p_Reset(&g->filter_out.pit, 0.0f);

  MOTOR_DM_Enable(&(g->param->pit_motor));
  
  AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */

  g->setpoint.eulr.pit = g->feedback.imu.eulr.rol;
  g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;

  g->mode = mode;
  return 0;
}

/* Exported functions ------------------------------------------------------- */

/**
 * \brief 初始化云台
 *
 * \param g 包含云台数据的结构体
 * \param param 包含云台参数的结构体指针
 * \param target_freq 任务预期的运行频率
 *
 * \return 函数运行结果
 */
int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param,
                   float target_freq) {
  if (g == NULL)
    return -1;

  g->param = param;
  g->mode = GIMBAL_MODE_RELAX; /* 设置默认模式 */

  /* 初始化云台电机控制PID和LPF */
  PID_Init(&(g->pid.yaw_angle), KPID_MODE_NO_D, target_freq,
           &(g->param->pid.yaw_angle));
  PID_Init(&(g->pid.yaw_omega), KPID_MODE_CALC_D, target_freq,
           &(g->param->pid.yaw_omega));
  PID_Init(&(g->pid.pit_angle), KPID_MODE_NO_D, target_freq,
           &(g->param->pid.pit_angle));
  PID_Init(&(g->pid.pit_omega), KPID_MODE_CALC_D, target_freq,
           &(g->param->pid.pit_omega));

  LowPassFilter2p_Init(&g->filter_out.yaw, target_freq,
                       g->param->low_pass_cutoff_freq.out);
  LowPassFilter2p_Init(&g->filter_out.pit, target_freq,
                       g->param->low_pass_cutoff_freq.out);
  g->limit.yaw.max = g->param->mech_zero.yaw + g->param->travel.yaw;
  g->limit.yaw.min = g->param->mech_zero.yaw;
  g->limit.pit.max = g->param->mech_zero.pit + g->param->travel.pit;
  g->limit.pit.min = g->param->mech_zero.pit;
  BSP_CAN_Init();
    
  MOTOR_RM_Register(&(g->param->yaw_motor));
  MOTOR_DM_Register(&(g->param->pit_motor));

  MOTOR_DM_Enable(&(g->param->pit_motor));
  return 0;
}

/**
 * \brief 通过CAN设备更新云台反馈信息
 *
 * \param gimbal 云台
 * \param can CAN设备
 *
 * \return 函数运行结果
 */
int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal) {
  if (gimbal == NULL)
    return -1;

  /* 更新DM电机反馈数据（pitch轴） */
  MOTOR_DM_Update(&(gimbal->param->pit_motor));
  MOTOR_DM_t *dm_motor = MOTOR_DM_GetMotor(&(gimbal->param->pit_motor));
  if (dm_motor != NULL) {
    gimbal->feedback.motor.pit = dm_motor->motor.feedback;
  }

  /* 更新RM电机反馈数据（yaw轴） */
  MOTOR_RM_Update(&(gimbal->param->yaw_motor));
  MOTOR_RM_t *rm_motor = MOTOR_RM_GetMotor(&(gimbal->param->yaw_motor));
  if (rm_motor != NULL) {
    gimbal->feedback.motor.yaw = rm_motor->feedback;
  }

  return 0;
}

int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu){

  if (gimbal == NULL) {
    return -1;
  }
  gimbal->feedback.imu.gyro = imu->gyro;
  gimbal->feedback.imu.eulr = imu->eulr;
  return 0;
}
int fan = 0;
/**
 * \brief 运行云台控制逻辑（集成 AI 速度前馈）
 *
 * \param g 包含云台数据的结构体
 * \param g_cmd 云台控制指令（包含遥控器增量及视觉数据）
 *
 * \return 函数运行结果
 */
int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
  if (g == NULL || g_cmd == NULL) {
    return -1;
  }

  /* 更新时间步长 */
  g->dt = (BSP_TIME_Get_us() - g->lask_wakeup) / 1000000.0f;
  g->lask_wakeup = BSP_TIME_Get_us();

  /* 模式切换处理 */
  Gimbal_SetMode(g, g_cmd->mode);

  /* --- 1. 计算目标设定值增量 --- */
  float delta_yaw = 0.0f;
  float delta_pit = 0.0f;

  if (g->mode == GIMBAL_MODE_AUTO_AIM && g_cmd->vision.target_found) {
    /* 火控模式且目标已锁定：计算视觉目标角度与当前设定值的偏差 */
		delta_yaw = CircleError((g_cmd->vision.yaw), g->setpoint.eulr.yaw, M_2PI);
		if (fan)  delta_pit = CircleError((g_cmd->vision.pit), g->setpoint.eulr.pit, M_2PI);
		else  delta_pit = CircleError((g_cmd->vision.pit), g->setpoint.eulr.pit, M_2PI);

    
//    delta_pit = CircleError(g_cmd->vision.pit, g->setpoint.eulr.pit, M_2PI);
  } else {
    /* 常规模式或火控模式下目标丢失：使用操作手遥控器增量 */
    delta_yaw = g_cmd->delta_yaw * g->dt * 1.5f;
    delta_pit = g_cmd->delta_pit * g->dt;
  }

  /* --- 2. 软件限位处理 (Yaw) --- */
  if (g->param->travel.yaw > 0) {
    float motor_imu_offset = g->feedback.motor.yaw.rotor_abs_angle - g->feedback.imu.eulr.yaw;
    if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI;
    if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI;
    
    const float delta_max = CircleError(g->limit.yaw.max, (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI);
    const float delta_min = CircleError(g->limit.yaw.min, (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI);
    
    if (delta_yaw > delta_max) delta_yaw = delta_max;
    if (delta_yaw < delta_min) delta_yaw = delta_min;
  }
  CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw, M_2PI);

  /* --- 3. 软件限位处理 (Pitch) --- */
  if (g->param->travel.pit > 0) {
    float motor_imu_offset = g->feedback.motor.pit.rotor_abs_angle - g->feedback.imu.eulr.rol;
    if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI;
    if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI;
    
    const float delta_max = CircleError(g->limit.pit.max, (g->setpoint.eulr.pit + motor_imu_offset + delta_pit), M_2PI);
    const float delta_min = CircleError(g->limit.pit.min, (g->setpoint.eulr.pit + motor_imu_offset + delta_pit), M_2PI);
    
    if (delta_pit > delta_max) delta_pit = delta_max;
    if (delta_pit < delta_min) delta_pit = delta_min;
  }
  CircleAdd(&(g->setpoint.eulr.pit), delta_pit, M_2PI);

  /* --- 4. 闭环控制计算 (串级 PID + 前馈) --- */
  float yaw_omega_set_point, pit_omega_set_point;
  float yaw_v_ff = 0.0f, pit_v_ff = 0.0f;

  switch (g->mode) {
  case GIMBAL_MODE_RELAX:
    g->out.yaw = 0.0f;
    g->out.pit = 0.0f;
    break;

  case GIMBAL_MODE_AUTO_AIM:
    /* 如果视觉在线，提取前馈项 */
    if (g_cmd->vision.target_found) {
			g->setpoint.eulr.pit=g_cmd->vision.pit;
        /* 前馈系数建议放在参数结构体中，此处使用 1.0f 作为默认增益 */
        yaw_v_ff = g_cmd->vision.yaw_v_ff * 0.2f; 
        pit_v_ff = g_cmd->vision.pit_v_ff * 0.2f;
    }
    /* 顺延执行 PID 计算 */
  case GIMBAL_MODE_ABSOLUTE:
    /* Yaw 轴：角度环 -> 速度环 + 前馈 */
    yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
                                   g->feedback.imu.eulr.yaw, 0.0f, g->dt);
    g->out.yaw = PID_Calc(&(g->pid.yaw_omega), yaw_omega_set_point,
                          g->feedback.imu.gyro.z, 0.f, g->dt) + yaw_v_ff;

    /* Pitch 轴：角度环 -> 速度环 + 前馈 */
    pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
                                   g->feedback.imu.eulr.rol, 0.0f, g->dt);
    g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
                          g->feedback.imu.gyro.y, 0.f, g->dt) + pit_v_ff;
	  if (g->mode == GIMBAL_MODE_AUTO_AIM && g_cmd->vision.target_found) {
			g->out.pit=-g->out.pit;
		}
    break;

  case GIMBAL_MODE_RELATIVE:
    g->out.yaw = 0.0f;
    g->out.pit = 0.0f;
    break;
  }

  /* 输出滤波 */
  g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw);
  g->out.pit = LowPassFilter2p_Apply(&g->filter_out.pit, g->out.pit);

  return 0;
}
/**
 * \brief 运行云台控制逻辑（集成 AI 速度前馈与目标滤波）
 *
 * \param g 包含云台数据的结构体
 * \param g_cmd 云台控制指令（包含遥控器增量及视觉数据）
 *
 * \return 函数运行结果
 */
int8_t Gimbal_Control1(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
  if (g == NULL || g_cmd == NULL) {
    return -1;
  }

  /* 更新时间步长 */
  g->dt = (BSP_TIME_Get_us() - g->lask_wakeup) / 1000000.0f;
  g->lask_wakeup = BSP_TIME_Get_us();

  /* 模式切换处理 */
  Gimbal_SetMode(g, g_cmd->mode);

  /* --- 0. 视觉滤波器初始化与复位逻辑 --- */
  if (!is_vision_lpf_init) {
      /* 假设控制频率约为1000Hz(取决于实际dt)，截止频率设为15Hz。截止频率越低越平滑，但延迟越大 */
      LowPassFilter2p_Init(&vision_yaw_lpf, 1.0f / g->dt, 15.0f);
      LowPassFilter2p_Init(&vision_pit_lpf, 1.0f / g->dt, 15.0f);
      is_vision_lpf_init = 1;
  }

  /* --- 1. 计算目标设定值增量 --- */
  float delta_yaw = 0.0f;
  float delta_pit = 0.0f;

  if (g->mode == GIMBAL_MODE_AUTO_AIM && g_cmd->vision.target_found) {
    /* 对视觉传来的绝对角度进行二阶低通滤波 */
    float filtered_vision_yaw = LowPassFilter2p_Apply(&vision_yaw_lpf, g_cmd->vision.yaw);
    float filtered_vision_pit = LowPassFilter2p_Apply(&vision_pit_lpf, g_cmd->vision.pit);

    /* Yaw轴：圆周差值计算 */
    delta_yaw = CircleError(filtered_vision_yaw, g->setpoint.eulr.yaw, M_2PI);
    
    /* Pitch轴：纯线性差值计算。根据前置测试，如果极性反了，在此处添加负号 */
    delta_pit = filtered_vision_pit - g->setpoint.eulr.pit; // 如果反向，改为 (-filtered_vision_pit) - g->setpoint.eulr.pit;

  } else {
    /* 丢失目标或非自瞄模式：复位滤波器，防止下次切入自瞄时产生剧烈阶跃 */
    LowPassFilter2p_Reset(&vision_yaw_lpf, g->setpoint.eulr.yaw);
    LowPassFilter2p_Reset(&vision_pit_lpf, g->setpoint.eulr.pit);

    /* 使用操作手遥控器增量 */
    delta_yaw = g_cmd->delta_yaw * g->dt * 1.5f;
    delta_pit = g_cmd->delta_pit * g->dt;
  }

  /* --- 2. 软件限位处理 (Yaw) --- */
  if (g->param->travel.yaw > 0) {
    float motor_imu_offset = g->feedback.motor.yaw.rotor_abs_angle - g->feedback.imu.eulr.yaw;
    if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI;
    if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI;
    
    const float delta_max = CircleError(g->limit.yaw.max, (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI);
    const float delta_min = CircleError(g->limit.yaw.min, (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw), M_2PI);
    
    if (delta_yaw > delta_max) delta_yaw = delta_max;
    if (delta_yaw < delta_min) delta_yaw = delta_min;
  }
  CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw, M_2PI);

  /* --- 3. 软件限位处理 (Pitch) --- */
  /* Pitch 轴必须使用纯线性累加和限幅，严禁使用 CircleAdd */
  g->setpoint.eulr.pit += delta_pit;

  if (g->param->travel.pit > 0) {
    float motor_imu_offset = g->feedback.motor.pit.rotor_abs_angle - g->feedback.imu.eulr.rol;
    if (motor_imu_offset > M_PI) motor_imu_offset -= M_2PI;
    if (motor_imu_offset < -M_PI) motor_imu_offset += M_2PI;
    
    float target_abs_pit = g->setpoint.eulr.pit + motor_imu_offset;
    
    if (target_abs_pit > g->limit.pit.max) {
        g->setpoint.eulr.pit = g->limit.pit.max - motor_imu_offset;
    } else if (target_abs_pit < g->limit.pit.min) {
        g->setpoint.eulr.pit = g->limit.pit.min - motor_imu_offset;
    }
  }

  /* --- 4. 闭环控制计算 (串级 PID + 前馈) --- */
  float yaw_omega_set_point, pit_omega_set_point;
  float yaw_v_ff = 0.0f, pit_v_ff = 0.0f;

  switch (g->mode) {
  case GIMBAL_MODE_RELAX:
    g->out.yaw = 0.0f;
    g->out.pit = 0.0f;
    break;

  case GIMBAL_MODE_AUTO_AIM:
    if (g_cmd->vision.target_found) {
        /* 注意：已删除原有的强行赋值 g->setpoint.eulr.pit=g_cmd->vision.pit; */
        yaw_v_ff = g_cmd->vision.yaw_v_ff * 0.2f; 
        pit_v_ff = g_cmd->vision.pit_v_ff * 0.2f;
    }
    /* 顺延执行 PID 计算 */
  case GIMBAL_MODE_ABSOLUTE:
    yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
                                   g->feedback.imu.eulr.yaw, 0.0f, g->dt);
    g->out.yaw = PID_Calc(&(g->pid.yaw_omega), yaw_omega_set_point,
                          g->feedback.imu.gyro.z, 0.f, g->dt) + yaw_v_ff;

    pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
                                   g->feedback.imu.eulr.rol, 0.0f, g->dt);
    g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
                          g->feedback.imu.gyro.y, 0.f, g->dt) + pit_v_ff;
    g->out.pit=-g->out.pit; g->out.pit=-g->out.pit;                       
    /* 注意：已删除此处的 g->out.pit = -g->out.pit; 修正输出极性应在外部 Gimbal_Output 或 PID 计算环节统一处理 */
    break;

  case GIMBAL_MODE_RELATIVE:
    g->out.yaw = 0.0f;
    g->out.pit = 0.0f;
    break;
  }

  /* 输出滤波 */
  g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw);
  g->out.pit = LowPassFilter2p_Apply(&g->filter_out.pit, g->out.pit);

  return 0;
}
 /**
   * \brief 云台输出
   *
   * \param g 包含云台数据的结构体
   */
void Gimbal_Output(Gimbal_t *g){
  if (1) {
    /* 标志位为1：正常工作时的输出逻辑 */
    
    /* 1. 对 Yaw 轴输出(大疆 RM 电机)进行限幅 */
    float target_yaw_out = g->out.yaw;
    if (target_yaw_out > YAW_MAX_OUTPUT) {
        target_yaw_out = YAW_MAX_OUTPUT;
    } else if (target_yaw_out < -YAW_MAX_OUTPUT) {
        target_yaw_out = -YAW_MAX_OUTPUT;
    }
    MOTOR_RM_SetOutput(&g->param->yaw_motor, target_yaw_out);
    
    /* 2. 计算 Pitch 轴扭矩(达妙 DM 电机)并进行限幅 */
    float target_pit_torque = g->out.pit * 3.0f; // 乘以减速比
    if (target_pit_torque > PIT_MAX_TORQUE) {
        target_pit_torque = PIT_MAX_TORQUE;
    } else if (target_pit_torque < -PIT_MAX_TORQUE) {
        target_pit_torque = -PIT_MAX_TORQUE;
    }
    
    MOTOR_MIT_Output_t output = {0};
    output.torque = target_pit_torque; 
    output.kd = 0.3f;
    
    /* 下发控制指令 */
    MOTOR_RM_Ctrl(&g->param->yaw_motor);
    MOTOR_DM_MITCtrl(&g->param->pit_motor, &output);
  } else {
    /* 标志位为0：强制禁用逻辑，避免断线报错 */
    MOTOR_RM_SetOutput(&g->param->yaw_motor, 0.0f); // 大疆电机强制0电流
    
    MOTOR_MIT_Output_t output = {0}; // 达妙MIT模式全零初始化 (位置/速度/扭矩/kp/kd 均为0)
    
    MOTOR_RM_Ctrl(&g->param->yaw_motor);
    MOTOR_DM_MITCtrl(&g->param->pit_motor, &output);
  }
}