// app
#include "balance.h"
#include "robot_def.h"
#include "general_def.h"
#include "ins_task.h"
#include "HT04.h"
#include "LK9025.h"
#include "controller.h"
#include "can_comm.h"
#include "super_cap.h"
#include "user_lib.h"
#include "remote_control.h"
#include "referee_task.h"
#include "stdint.h"
#include "arm_math.h" // 需要用到较多三角函数
#include "bsp_dwt.h"
#include "bsp_log.h"


static uint32_t balance_dwt_cnt;
static float del_t;

/* 底盘拥有的模块实例 */
static attitude_t *imu_data;
static RC_ctrl_t *rc_data; // 底盘单独调试用
static Referee_Interactive_info_t my_ui;
static referee_info_t *referee_data;
static Chassis_Ctrl_Cmd_s chassis_cmd_recv; 
static Chassis_Upload_Data_s chassis_feed;
static CANCommInstance *ci;
static SuperCapInstance *cap; 

// 四个关节电机和两个驱动轮电机
static HTMotorInstance *lf, *lb, *rf, *rb, *joint[4]; // 指针数组方便传参和调试
static LKMotorInstance *l_driven, *r_driven, *driven[2];

// 两个腿的参数,0为左腿,1为右腿
static LinkNPodParam l_side, r_side; 
static ChassisParam chassis;

// 综合运动补偿的PID控制器
static PIDInstance steer_p_pid, steer_v_pid;   // 转向PID,有转向指令时使用IMU的加速度反馈积分以获取速度和位置状态量
static PIDInstance anti_crash_pid, phi5_pid;   // 抗劈叉,将输出以相反的方向叠加到左右腿的上
static PIDInstance leglen_pid_l, leglen_pid_r; // 用PD模拟弹簧,不要积分(弹簧是无积分二阶系统),增益不可过大否则抗外界冲击响应时太"硬"
static PIDInstance roll_compensate_pid, rolldot_pid; // roll轴补偿,用于保持机体水平

static Robot_Status_e chassis_status;

void BalanceInit()
{
    rc_data = RemoteControlInit(&huart3);
    imu_data = INS_Init();

    // 双板通信
    CANComm_Init_Config_s commconf = {
        .can_config = {
            .can_handle = &hcan2,
            .tx_id = 0x40,
            .rx_id = 0x41},
        .recv_data_len = sizeof(Chassis_Ctrl_Cmd_s),
        .send_data_len = sizeof(Chassis_Upload_Data_s)};
    ci = CANCommInit(&commconf);

    // 超级电容
    SuperCap_Init_Config_s cap_conf = {
        .can_config = {
            .can_handle = &hcan2,
            .tx_id = 0x302, // todo 电容id
            .rx_id = 0x301}};
    cap = SuperCapInit(&cap_conf);

    // 关节电机
    Motor_Init_Config_s joint_conf = {
        // 写一个,剩下的修改方向和id即可
        .can_init_config = {
            .can_handle = &hcan1},
        .controller_param_init_config = {
            .angle_PID = {
                .Kp = 0.3,
                .Kd = 0.1,
                .Ki = 0,
                .DeadBand = 0.0001,
                .Improve = PID_DerivativeFilter,
                .MaxOut = 4,
                .Derivative_LPF_RC = 0.05,
            }, // 仅用于复位腿
        },
        .controller_setting_init_config = {
            .close_loop_type = ANGLE_LOOP,
            .outer_loop_type = OPEN_LOOP,
            .motor_reverse_flag = FEEDBACK_DIRECTION_NORMAL,
            .angle_feedback_source = MOTOR_FEED,
            .speed_feedback_source = MOTOR_FEED,
        },
        .motor_type = HT04};
    joint_conf.can_init_config.tx_id = 4;
    joint_conf.can_init_config.rx_id = 14;
    joint[LF] = lf = HTMotorInit(&joint_conf);
    joint_conf.can_init_config.tx_id = 3;
    joint_conf.can_init_config.rx_id = 13;
    joint[LB] = lb = HTMotorInit(&joint_conf);
    joint_conf.can_init_config.tx_id = 2;
    joint_conf.can_init_config.rx_id = 12;
    joint[RF] = rf = HTMotorInit(&joint_conf);
    joint_conf.can_init_config.tx_id = 1;
    joint_conf.can_init_config.rx_id = 11;
    joint[RB] = rb = HTMotorInit(&joint_conf);

    // 驱动轮电机
    Motor_Init_Config_s driven_conf = {
        // 写一个,剩下的修改方向和id即可
        .can_init_config.can_handle = &hcan2,
        .controller_setting_init_config = {
            .angle_feedback_source = MOTOR_FEED,
            .speed_feedback_source = MOTOR_FEED,
            .outer_loop_type = OPEN_LOOP,
            .close_loop_type = OPEN_LOOP,
            .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
        },
        .motor_type = LK9025,
    };
    driven_conf.can_init_config.tx_id = 1;
    driven[LD] = l_driven = LKMotorInit(&driven_conf);
    driven_conf.can_init_config.tx_id = 2;
    driven[RD] = r_driven = LKMotorInit(&driven_conf);

    // 转向PID
    PID_Init_Config_s steer_p_pid_conf = {
        .Kp = 2,
        .Kd = 1,
        .Ki = 0.0f,
        .MaxOut = 4,
        .DeadBand = 0.01f,
        .Improve = PID_DerivativeFilter,
        .Derivative_LPF_RC = 0.05,
    };
    PIDInit(&steer_p_pid, &steer_p_pid_conf);
    PID_Init_Config_s steer_v_pid_conf = {
        .Kp = 2,
        .Kd = 0.0f,
        .Ki = 0.0f,
        .MaxOut = 100,
        .DeadBand = 0.0f,
        .Improve = PID_DerivativeFilter | PID_Integral_Limit,
        .Derivative_LPF_RC = 0.05,
        .IntegralLimit = 2,
    };
    PIDInit(&steer_v_pid, &steer_v_pid_conf);

    // 抗劈叉
    PID_Init_Config_s anti_crash_pid_conf = {
        .Kp = 8,
        .Kd = 2.5,
        .Ki = 0.4,
        .MaxOut = 45,
        .DeadBand = 0.01f,
        .Improve = PID_DerivativeFilter | PID_ChangingIntegrationRate | PID_Integral_Limit,
        .Derivative_LPF_RC = 0.05,
        .CoefA = 0.05,
        .CoefB = 0.05,
        .IntegralLimit = 2,
    };
    PIDInit(&anti_crash_pid, &anti_crash_pid_conf);

    // 腿长控制
    PID_Init_Config_s leg_length_pid_conf = {
        .Kp = 450,
        .Kd = 150,
        .Ki = 5,
        .MaxOut = 60,
        .DeadBand = 0.0001f,
        .Improve = PID_ChangingIntegrationRate | PID_Trapezoid_Intergral | PID_DerivativeFilter | PID_Derivative_On_Measurement,
        .CoefA = 0.01,
        .CoefB = 0.02,
        .Derivative_LPF_RC = 0.08,
    };
    PIDInit(&leglen_pid_l, &leg_length_pid_conf);
    PIDInit(&leglen_pid_r, &leg_length_pid_conf);

    // 横滚角补偿
    PID_Init_Config_s roll_compensate_pid_conf = {
        .Kp = 0.0008f,
        .Kd = 0.00065f,
        .Ki = 0.0f,
        .MaxOut = 0.04,
        .DeadBand = 0.005f,
        .Improve = PID_DerivativeFilter,
        .Derivative_LPF_RC = 0.05,
    };
    PIDInit(&roll_compensate_pid, &roll_compensate_pid_conf);

    l_side.target_len = r_side.target_len = 0.23;   // 初始腿长
    chassis.vel_cov = 1000; // 初始化速度协方差
    chassis_status = ROBOT_READY;
    DWT_GetDeltaT(&balance_dwt_cnt);
}

static void EnableAllMotor() /* 打开所有电机 */
{
    for (uint8_t i = 0; i < JOINT_CNT; i++) // 打开关节电机
        HTMotorEnable(joint[i]);
    for (uint8_t i = 0; i < DRIVEN_CNT; i++) // 打开驱动电机
        LKMotorEnable(driven[i]);
}

/* 切换底盘遥控器控制和云台双板控制 */
static void ControlSwitch()
{ 
    // 右侧拨杆向下,进入遥控器底盘控制,此时不响应云台控制指令
    if (switch_is_down(rc_data->rc.switch_right) && RemoteControlIsOnline())
    {
        if (rc_data->rc.rocker_l1 < -600)
        {
            chassis_cmd_recv.chassis_mode = CHASSIS_RESET;
            chassis_cmd_recv.vx = 0.5 * (float)rc_data[TEMP].rc.rocker_r1; // speed x, unit m/s
        }
        else // 设定值覆盖双板
        {
            chassis_cmd_recv.chassis_mode = CHASSIS_FREE_DEBUG;                        // 自由转动&前后
            chassis_cmd_recv.vx = 0.02 * (float)rc_data[TEMP].rc.rocker_r1;           // speed x, unit m/s
            chassis_cmd_recv.offset_angle = 0.001 * (float)rc_data[TEMP].rc.rocker_r_; // rotate? follow.
            chassis_cmd_recv.delta_leglen = -0.0000015f * (float)rc_data[TEMP].rc.dial;
        }
    }
    else if (CANCommIsOnline(ci) && !switch_is_down(rc_data->rc.switch_right))
        chassis_cmd_recv = *(Chassis_Ctrl_Cmd_s *)CANCommGet(ci); // 获取云台板指令
    else
        chassis_cmd_recv.chassis_mode = CHASSIS_ZERO_FORCE; // 皆离线,急停
}


void BalanceTask()
{
    del_t = DWT_GetDeltaT(&balance_dwt_cnt);

    // 切换遥控器控制or云台板控制
    ControlSwitch();
    
}