#include "jj_motion.h"
#include <math.h>
#include "zf_common_headfile.h"
#include "pid.h"
#include "jj_voltage.h"
#include "jj_blueteeth.h"
#include "by_fan_control.h"
#include "by_imu.h"

PID_TypeDef far_angle_pid;
PID_TypeDef str_angle_pid;
PID_TypeDef tur_cal_pid;
PID_TypeDef far_gyro_pid;
PID_TypeDef speed_pid;
PID_TypeDef cir_pos_pid;
float ci_Kp0 = 200.f;
float ci_Ki0 = 0;
float ci_Kd0 = 0;
float out_ci;
// 弯道后面风扇角度环
float an_Kp0 = 40.0f;
float an_Ki0 = 0.0f;
float an_Kd0 = 0.0f;
// 直道后面风扇角度环
float an_Kp1 = 42.0f;
float an_Ki1 = 0.0f;
float an_Kd1 = 0.0f;
// 圆环后面风扇角度环
float yu_Kp0 = 60.0f;
float yu_Ki0 = 0.0f;
float yu_Kd0 = 0.0f;
// 弯道侧面风扇角度环
float cn_Kp1 = 300.0f;
float cn_Ki1 = 0.f;
float cn_Kd1 = 0.0f;
// 直道侧面风扇角度环
float po_Kp1 = 400.0f;
float po_Ki1 = 0.0f;
float po_Kd1 = 0.0f;
// 期望和当前量
float in_angle;
float set_angle = 0.0f;
float out_angle;
float in_pos;
float out_pos;
float set_pos = 0.0f;
float out_cal;
// 弯道角速度环
float gy_Kp0 = 4.50f;
float gy_Ki0 = 0.0f;
float gy_Kd0 = 0.0f;
// 直道角速度环
float gy_Kp1 = 3.2f;
float gy_Ki1 = 0.0f;
float gy_Kd1 = 0.0f;
// 圆环角速度环
float ygy_Kp0 = 4.0f;
float ygy_Ki0 = 0.0f;
float ygy_Kd0 = 0.0f;
// 当前和输入量
float in_gyro;
float out_gyro;
// float set_gyro = 0.0f;
// 速度环
float sp_Kp = 10.0f;
float sp_Ki = 100.f;
float sp_Kd = 0.0f;

float in_speed;
float out_speed;

float set_speed;
float set_speed0   = 800.0f;
float set_speed1   = 1100.0f;
float set_speed2   = 810.f;
float set_speed3   = 1000.f;
int cnt1           = 0;
int cnt2           = 0;
int cnt3           = 0;
int cnt4           = 0;
int cnt5           = 0;
uint8_t cnt3_flag  = 0;
uint8_t in_state   = 0;
uint8_t in_stop    = 0;
uint8_t last_state = 0;
uint8_t stop_flag  = 0;
int32_t pwm_duty_ls;
int32_t pwm_duty_rs;
int32_t pwm_duty_lb;
int32_t pwm_duty_rb;
float qd_down = 0.0f;

/*
0:无状态
1:弯道
2:直道
3:入环
4:环内
5:障碍
*/
static float myclip_f(float x, float low, float up)
{
    return (x > up ? up : x < low ? low
                                  : x);
}

float sport_get_speed(void)
{
#define ALPHA (0.97f)
    static float speed_now  = 0;
    static float speed_last = 0;

    speed_now  = ALPHA * (float)encoder_get_count(TIM3_ENCOEDER) + (1.0f - ALPHA) * speed_last;
    speed_last = speed_now;
    encoder_clear_count(TIM3_ENCOEDER);

    return speed_now;

#undef ALPHA
}

void sport_motion()
{

    imu660ra_get_gyro();
    imu660ra_get_acc();
    get_vol();
    in_gyro = imu660ra_gyro_z;
    // 抖动停车
    if (imu660ra_acc_z <= 600) {

        bt_fly_flag = bt_run_flag = 0;
        bt_printf("ting");
    }
    // 斑马线停车
    if (1 == in_stop) {
        stop_flag = 1;
    }
    if (stop_flag == 1) {
        cnt4++;
        if (cnt4 >= 200) {
            bt_fly_flag = bt_run_flag = 0;
        }
    }
    /* 动力风扇设置 */
    if (1 == bt_run_flag) {
        cnt1++;
        cnt2++;
        cnt5++;
        // pid参数切换
        if ((last_state != in_state) && (in_state == 0 || in_state == 2)) { // 直道
            cnt3_flag = 1;
            cnt3      = 0;

            bt_printf("to 直道");
            set_speed = set_speed1;
            PID_SetTunings(&far_angle_pid, an_Kp1, an_Ki1, an_Kd1);
            PID_SetTunings(&far_gyro_pid, gy_Kp1, gy_Ki1, gy_Kd1);
        }
        if ((last_state != in_state) && (in_state == 1 || in_state == 5)) { // 弯道或者障碍物，暂时没加障碍物的分段
            bt_printf("to 入弯");
            set_speed = set_speed0;
            cnt3_flag = 1;

            PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0);
            PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0);
        }
        if ((last_state != in_state) && in_state == 3) { // 圆环
            bt_printf("to 圆环");
            set_speed = set_speed2;

            cnt3_flag = 1;
            PID_SetTunings(&far_angle_pid, yu_Kp0, yu_Ki0, yu_Kd0);
            PID_SetTunings(&far_gyro_pid, ygy_Kp0, ygy_Ki0, ygy_Kd0);
        }
        last_state = in_state;
        // pid计算
        if (cnt1 >= 2) {
            PID_Compute(&far_gyro_pid);
            cnt1 = 0;
        }
        if (cnt2 >= 10) {
            in_speed = sport_get_speed();

            cnt2 = 0;
        }
        if (cnt5 >= 20) {

            PID_Compute(&far_angle_pid);
            PID_Compute(&str_angle_pid);
            PID_Compute(&tur_cal_pid);
            PID_Compute(&speed_pid);
            cnt5 = 0;
        }
        // 输出限幅
        if (in_state == 0 || in_state == 2) {
            pwm_duty_ls = (int32_t)myclip_f(-out_pos, 0.0f, 7000.f);
            pwm_duty_rs = (int32_t)myclip_f(out_pos, 0.0f, 7000.f);
            pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 7000.f);
            pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 7000.f);
        } else if (in_state == 1 || in_state == 3 || in_state == 4 || in_state == 5) {

            pwm_duty_ls = (int32_t)myclip_f(-out_cal, 0.0f, 7000.f);
            pwm_duty_rs = (int32_t)myclip_f(out_cal, 0.0f, 7000.f);
            pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 0.0f, 7000.f);
            pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 0.0f, 7000.f);
        }

        by_pwm_power_duty(pwm_duty_ls, pwm_duty_rs, pwm_duty_lb, pwm_duty_rb);
    } else {
        by_pwm_power_duty(0, 0, 0, 0);
    }
    /* 升力风扇设置 */
    if (bt_fly_flag == 0) {
        by_pwm_update_duty(0 + 500, 0 + 500);
    } else {
        if ((in_state == 1 || in_state == 3 || in_state == 5) && cnt3_flag == 1) {

            cnt3++;
            if (in_state == 3) {
                if (cnt3 >= 300) // 200ms
                {
                    bt_printf("to 环内");
                    cnt3_flag = 2;
                    cnt3      = 0;
                }
            } else if (in_state == 1) {
                if (cnt3 >= 450) // 200ms
                {
                    bt_printf("to 弯道");
                    cnt3_flag = 2;
                    cnt3      = 0;
                }
            } else if (in_state == 5) {
                if (cnt3 >= 200) // 200ms
                {
                    bt_printf("to 障碍");
                    cnt3_flag = 2;
                    cnt3      = 0;
                }
            }
            if (in_speed > set_speed - 100) {
                qd_down = 6 * fabs(in_pos);
            } else {
                qd_down = 0;
            }
            by_pwm_update_duty(bt_fly + 500 - qd_down, bt_fly + 500 - qd_down);
        } else {
            if (in_state == 4) {
                by_pwm_update_duty(bt_fly + 515, bt_fly + 515);
                set_speed = set_speed3;
            } else {
                by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
            }
        }
    }
}

/**
 * @brief 结构体初始化
 *
 */
void sport_pid_init()
{
    /* 角度控制 */
    PID(&far_angle_pid, &in_angle, &out_angle, &set_angle, an_Kp1, an_Ki1, an_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
    PID_SetMode(&far_angle_pid, _PID_MODE_AUTOMATIC);
    PID_SetSampleTime(&far_angle_pid, 20);
    PID_SetOutputLimits(&far_angle_pid, -4000.0f, 4000.0f);
    // 直道侧面位置环
    PID(&str_angle_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
    PID_SetMode(&str_angle_pid, _PID_MODE_AUTOMATIC);
    PID_SetSampleTime(&str_angle_pid, 20);
    PID_SetOutputLimits(&str_angle_pid, -7000.0f, 7000.0f);
    // 弯道侧面曲率环
    PID(&tur_cal_pid, &in_angle, &out_cal, &set_pos, cn_Kp1, cn_Ki1, cn_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
    PID_SetMode(&tur_cal_pid, _PID_MODE_AUTOMATIC);
    PID_SetSampleTime(&tur_cal_pid, 20);
    PID_SetOutputLimits(&tur_cal_pid, -7000.0f, 7000.0f);
    // 圆环
    PID(&cir_pos_pid, &in_angle, &out_ci, &set_pos, ci_Kp0, ci_Ki0, ci_Kd0, _PID_P_ON_E, _PID_CD_REVERSE);
    PID_SetMode(&cir_pos_pid, _PID_MODE_AUTOMATIC);
    PID_SetSampleTime(&cir_pos_pid, 20);
    PID_SetOutputLimits(&cir_pos_pid, -7000.0f, 7000.0f);
    /* 角速度控制 */
    PID(&far_gyro_pid, &in_gyro, &out_gyro, &out_angle, gy_Kp1, gy_Ki1, gy_Kd1, _PID_P_ON_E, _PID_CD_REVERSE); // m是增量
    PID_SetMode(&far_gyro_pid, _PID_MODE_AUTOMATIC);
    PID_SetSampleTime(&far_gyro_pid, 20);
    PID_SetOutputLimits(&far_gyro_pid, -6000.0f, 6000.0f);

    /* 速度控制 */
    PID(&speed_pid, &in_speed, &out_speed, &set_speed, sp_Kp, sp_Ki, sp_Kd, _PID_P_ON_M, _PID_CD_DIRECT);
    PID_SetMode(&speed_pid, _PID_MODE_AUTOMATIC);
    PID_SetSampleTime(&speed_pid, 20);
    PID_SetOutputLimits(&speed_pid, -0.0f, 6000.0f);
}