#include "gimbal.h"
#include "robot_def.h"
#include "dji_motor.h"
#include "ins_task.h"
#include "message_center.h"
#include "general_def.h"

#include "bmi088.h"
#include "vofa.h"

static attitude_t *gimba_IMU_data; // 云台IMU数据
static DJIMotorInstance *yaw_motor, *pitch_motor;

static Publisher_t *gimbal_pub;                   // 云台应用消息发布者(云台反馈给cmd)
static Subscriber_t *gimbal_sub;                  // cmd控制消息订阅者
static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给cmd的云台状态信息
static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv;         // 来自cmd的控制信息

void GimbalInit()
{
    gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
    // YAW
    Motor_Init_Config_s yaw_config = {

        .can_init_config = {
            .can_handle = &hcan1,
            .tx_id = 1,
        },
        .controller_param_init_config = {
            .angle_PID = {
                .Kp = 0.5, // 8
                .Ki = 0,
                .Kd = 0,
                .DeadBand = 0.1,
                .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                .IntegralLimit = 100,

                .MaxOut = 500,
            },
            .speed_PID = {
                .Kp = 12000,  // 50
                .Ki = 3000, // 200
                .Kd = 0,
                .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                .IntegralLimit = 3000,
                .MaxOut = 20000,
            },
            .other_angle_feedback_ptr = &gimba_IMU_data->YawTotalAngle,
            // 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
            .other_speed_feedback_ptr = &gimba_IMU_data->Gyro[2],
        },
        .controller_setting_init_config = {
            .angle_feedback_source = OTHER_FEED,
            .speed_feedback_source = OTHER_FEED,
            .outer_loop_type = ANGLE_LOOP,
            .close_loop_type = SPEED_LOOP | ANGLE_LOOP,
            .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
        },
        .motor_type = GM6020,
        .motor_control_type = CURRENT_CONTROL};
    // PITCH
    Motor_Init_Config_s pitch_config = {
        .can_init_config = {
            .can_handle = &hcan2,
            .tx_id = 2,
        },
        .controller_param_init_config = {
//            .angle_PID = {
//                .Kp = 10, // 10
//                .Ki = 0,
//                .Kd = 0,
//                .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
//                .IntegralLimit = 100,
//                .MaxOut = 500,
//            },
//            .speed_PID = {
//                .Kp = 50,  // 50
//                .Ki = 350, // 350
//                .Kd = 0,   // 0
//                .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
//                .IntegralLimit = 2500,
//                .MaxOut = 20000,
//            },
//            .other_angle_feedback_ptr = &gimba_IMU_data->Pitch,
//            // 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
//            .other_speed_feedback_ptr = (&gimba_IMU_data->Gyro[0]),
            .current_PID = {
                    .Kp = 1, // 10
                    .Ki = 0,
                    .Kd = 0,
                    .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                    .IntegralLimit = 3000,
                    .MaxOut = 30000,
            }
        },
        .controller_setting_init_config = {
            .outer_loop_type = OPEN_LOOP,
            .close_loop_type = OPEN_LOOP,
            .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
        },
        .motor_type = GM6020,
        .motor_control_type = CURRENT_CONTROL
    };
    // 电机对total_angle闭环,上电时为零,会保持静止,收到遥控器数据再动
    yaw_motor = DJIMotorInit(&yaw_config);
    pitch_motor = DJIMotorInit(&pitch_config);

    gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
    gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
}

/* 机器人云台控制核心任务,后续考虑只保留IMU控制,不再需要电机的反馈 */
void GimbalTask()
{
    // 获取云台控制数据
    // 后续增加未收到数据的处理
    SubGetMessage(gimbal_sub, &gimbal_cmd_recv);

    // @todo:现在已不再需要电机反馈,实际上可以始终使用IMU的姿态数据来作为云台的反馈,yaw电机的offset只是用来跟随底盘
    // 根据控制模式进行电机反馈切换和过渡,视觉模式在robot_cmd模块就已经设置好,gimbal只看yaw_ref和pitch_ref
//    switch (gimbal_cmd_recv.gimbal_mode)
//    {
//    // 停止
//    case GIMBAL_ZERO_FORCE:
//        DJIMotorStop(yaw_motor);
//        DJIMotorStop(pitch_motor);
//        break;
//    // 使用陀螺仪的反馈,底盘根据yaw电机的offset跟随云台或视觉模式采用
//    case GIMBAL_GYRO_MODE: // 后续只保留此模式
//        DJIMotorEnable(yaw_motor);
//        DJIMotorEnable(pitch_motor);
//        DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
//        DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
//        DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
//        DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
//        DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
////        DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
//        break;
//    // 云台自由模式,使用编码器反馈,底盘和云台分离,仅云台旋转,一般用于调整云台姿态(英雄吊射等)/能量机关
//    case GIMBAL_FREE_MODE: // 后续删除,或加入云台追地盘的跟随模式(响应速度更快)
//        DJIMotorEnable(yaw_motor);
//        DJIMotorEnable(pitch_motor);
//        DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
//        DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
//        DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
//        DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
//        DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
////        DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
//        break;
//    default:
//        break;
//    }

    // 在合适的地方添加pitch重力补偿前馈力矩
    // 根据IMU姿态/pitch电机角度反馈计算出当前配重下的重力矩
    // ...
    static uint32_t cnt;
    static float time;
    DJIMotorEnable(pitch_motor);
    float deltaT=DWT_GetDeltaT(&cnt);
    time += deltaT;
    float theta = pitch_motor->measure.angle_single_round - 6200 * ECD_ANGLE_COEF_DJI;
    //float input = arm_sin_f32(2*PI*10*time);
    float gravity_feed = 3800*arm_cos_f32(theta/180*PI);
    DJIMotorSetRef(pitch_motor,gravity_feed);
        float vofa_send_data[4];
//    vofa_send_data[0]=yaw_motor->motor_controller.speed_PID.Ref;
//    vofa_send_data[1]=yaw_motor->motor_controller.speed_PID.Measure;
//    vofa_send_data[2]=yaw_motor->motor_controller.angle_PID.Ref;
//    vofa_send_data[3]=yaw_motor->motor_controller.angle_PID.Measure;
//    vofa_justfloat_output(vofa_send_data,16,&huart1);


    vofa_send_data[0] = pitch_motor->motor_controller.pid_ref;
    vofa_send_data[1] = pitch_motor->measure.real_current;
    vofa_send_data[2] = theta;
    vofa_send_data[3] = gravity_feed;
    vofa_justfloat_output(vofa_send_data,16,&huart1);
    // 设置反馈数据,主要是imu和yaw的ecd
    gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data;
    gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.angle_single_round;

    // 推送消息
    PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data);
}


void sin_input_generate(float frequency, int count)
{
    static uint32_t cnt;
    static float time;
    while(time>=count*(1/frequency))
    {
        float deltaT=DWT_GetDeltaT(&cnt);
        time += deltaT;

        float input = arm_sin_f32(2*PI*frequency*time);
        DJIMotorSetRef(yaw_motor,input);
    }
}