//
// Created by SJQ on 2023/12/30.
//

#include "balance.h"

static void mylqr_k(float L0, float K[12]);

void Balance_Control_Init(Balance_Control_t* balanceControl,Balance_Init_config_s InitConfig)
{
    Leg_Init(&balanceControl->leg_right,&InitConfig.legInitConfig);
    Leg_Init(&balanceControl->leg_left,&InitConfig.legInitConfig);

    LQR_Init(&balanceControl->balance_LQR,InitConfig.LQR_state_num,InitConfig.LQR_control_num);
    PIDInit(&balanceControl->leg_coordination_PID,&InitConfig.leg_cor_PID_config);

    PIDInit(&balanceControl->leg_length_PID,&InitConfig.legInitConfig.length_PID_conf);
    memset(balanceControl->state,0,6);
    memset(balanceControl->target_state,0,6);
}
// leg_phi[4] = {phi1_r,phi4_r,phi1_l,phi4_l}
void Balance_feedback_update(Balance_Control_t* balanceControl,float leg_phi[4],float leg_phi_dot[4],float body_phi,float body_phi_dot,float x,float x_dot)
{
    Leg_State_update(&balanceControl->leg_right,leg_phi[0],leg_phi[1],leg_phi_dot[0],leg_phi_dot[1]);
    Leg_State_update(&balanceControl->leg_left,leg_phi[2],leg_phi[3],leg_phi_dot[2],leg_phi_dot[3]);

    float K_matrix[12]={0};
    float L_average = balanceControl->leg_right.legState.L0;
        //(balanceControl->leg_right.legState.L0 + balanceControl->leg_left.legState.L0)/2;
    float alpha = PI/2 - balanceControl->leg_right.legState.phi0;

    float theta = alpha - body_phi;

//    static uint32_t dot_cnt = 0;
//    float dot_dt = DWT_GetDeltaT(&dot_cnt);
//    float theta_dot1 = (balanceControl->state[0] - theta) / dot_dt;


    float theta_dot = - balanceControl->leg_right.legState.phi0_dot - body_phi_dot;

    balanceControl->state[0] = theta;
    balanceControl->state[1] = theta_dot;
    balanceControl->state[2] = x; balanceControl->state[3] = x_dot;
    balanceControl->state[4] = body_phi; balanceControl->state[5] = body_phi_dot;

    mylqr_k(L_average,K_matrix);
    float K_matrix_fix[12];
    for (int i = 0; i < 6; ++i) {
        K_matrix_fix[i] = K_matrix[2*i];
    }
    for (int i = 0; i < 6; ++i) {
        K_matrix_fix[6+i] = K_matrix[2*i+1];
    }

    LQR_set_K(&balanceControl->balance_LQR,K_matrix_fix);
}

void Balance_Control_Loop(Balance_Control_t* balanceControl)
{
    LQR_update(&balanceControl->balance_LQR,balanceControl->state,balanceControl->target_state);

    balanceControl->balance_LQR.control_vector[1] = - balanceControl->balance_LQR.control_vector[1];
    float Tp = balanceControl->balance_LQR.control_vector[1];  //髋关节力矩
    float T = balanceControl->balance_LQR.control_vector[0];   //驱动轮力矩

    LegInstance *leg_r,*leg_l;
    leg_r = &balanceControl->leg_right;
    leg_l = &balanceControl->leg_left;
    //两条腿独立控制腿长
//    float F_pid_out_r =  PIDCalculate(&leg_r->Length_PID,leg_r->legState.L0,leg_r->target_L0);
//    float F_pid_out_l =  PIDCalculate(&leg_l->Length_PID,leg_l->legState.L0,leg_l->target_L0);
    //控制平均腿长
    float average_length = (leg_r->legState.L0 + leg_l->legState.L0)/2;
    float F_pid_out =  PIDCalculate(&balanceControl->leg_length_PID,average_length,leg_r->target_L0);
    //float F_pid_out_l =  PIDCalculate(&balanceControl->leg_length_PID,average_length,leg_r->target_L0);

    float Tp_pid_out_r = PIDCalculate(&leg_r->Phi0_PID,leg_r->legState.phi0,leg_r->target_phi0);
    float Tp_pid_out_l = PIDCalculate(&leg_l->Phi0_PID,leg_l->legState.phi0,leg_l->target_phi0);

    float coordination_err = leg_r->legState.phi0 - leg_l->legState.phi0;

    float cor_Tp = PIDCalculate(&balanceControl->leg_coordination_PID,coordination_err,0);

    Leg_Input_update(&leg_r->legInput,F_pid_out + leg_r->F_feedforward + 15,Tp + cor_Tp);
    Leg_Input_update(&leg_l->legInput,F_pid_out + leg_l->F_feedforward + 15,Tp - cor_Tp);

    VMC_getT(leg_r);
    VMC_getT(leg_l);
}

void target_x_set(Balance_Control_t* balanceControl,float x)
{
    balanceControl->target_state [2] = x;
}



/*
 * MYLQR_K  MATLAB生成
 *     K = MYLQR_K(L0)
 *
 * Arguments    : float L0
 *                float K[12]
 * Return Type  : void
 */
void mylqr_k(float L0, float K[12])
{
    float t2;
    float t3;
    /*     This function was generated by the Symbolic Math Toolbox version 9.2.
     */
    /*     10-Jan-2024 15:16:33 */
    t2 = L0 * L0;
    t3 = t2 * L0;
    K[0] =
            ((L0 * -97.6700211F + t2 * 46.4782753F) + t3 * 4.51733494F) - 1.61397338F;
    K[1] =
            ((L0 * 146.921585F - t2 * 449.3255F) + t3 * 451.086609F) - 0.117263243F;
    K[2] = ((L0 * -6.99885273F - t2 * 27.3483524F) + t3 * 26.8910675F) -
           0.586572289F;
    K[3] =
            ((L0 * 12.7336187F - t2 * 28.605896F) + t3 * 23.224308F) + 0.498449594F;
    K[4] =
            ((L0 * 6.6503768F - t2 * 45.4196815F) + t3 * 66.2783737F) - 6.39456844F;
    K[5] = ((L0 * 43.2317657F - t2 * 285.767334F) + t3 * 394.4133F) + 9.38568115F;
    K[6] = ((L0 * 17.2884F - t2 * 97.0312653F) + t3 * 130.450256F) - 8.32731533F;
    K[7] =
            ((L0 * 27.309267F - t2 * 224.613647F) + t3 * 318.699432F) + 11.2518187F;
    K[8] =
            ((L0 * 8.78794384F - t2 * 170.93956F) + t3 * 255.523727F) + 18.6254063F;
    K[9] =
            ((L0 * -44.4622231F + t2 * 450.010193F) - t3 * 693.942322F) + 58.9608879F;
    K[10] =
            ((L0 * -1.05264759F - t2 * 9.32109547F) + t3 * 14.8346682F) + 3.42239809F;
    K[11] =
            ((L0 * -15.4206066F + t2 * 102.133163F) - t3 * 144.315674F) + 3.18063068F;
}

/*
 * File trailer for mylqr_k.c
 *
 * [EOF]
 */