#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"
#include "by_frame.h"

PID_TypeDef far_angle_pid;
PID_TypeDef pos_pid;
PID_TypeDef far_gyro_pid;
PID_TypeDef speed_pid;
PID_TypeDef cir_pos_pid;
///////////////////////////////////////////
// 直道后面风扇角度环
float an_Kp1 = 46.0f;
float an_Ki1 = 0.0f;
float an_Kd1 = 0.0f;
// 直道角速度环
float gy_Kp1 = 1.530f;
float gy_Ki1 = 0.0f;
float gy_Kd1 = 0.0f;
// 直道侧面风扇角度环
float po_Kp1 = 2.10f;
float po_Ki1 = 0.0f;
float po_Kd1 = 0.0f;
////////////////////////////////////
// 弯道后面风扇角度环
float an_Kp0 = 53.0f;
float an_Ki0 = 0.0f;
float an_Kd0 = 0.0f;

// 弯道角速度环
float gy_Kp0 = 2.2180f;
float gy_Ki0 = 0.0f;
float gy_Kd0 = 0.0f;

// 弯道侧面风扇角度环
float cn_Kp1 = 7.0f;
float cn_Ki1 = 0.f;
float cn_Kd1 = 0.0f;
////////////////////////////////////////
// 避障后面角度环
float za_Kp = 55.f;
float za_Ki = 0;
float za_Kd = 0;

float zg_Kp = 2.f;
float zg_Ki = 0;
float zg_Kd = 0;

float zp_Kp = 6.f;
float zp_Ki = 0;
float zp_Kd = 0;
///////////////////////////////////////
// 圆环后面风扇角度环
float yu_Kp0 = 58.0f;
float yu_Ki0 = 0.0f;
float yu_Kd0 = 0.0f;
// 圆环角速度环
float ygy_Kp0 = 2.20f;
float ygy_Ki0 = 0.0f;
float ygy_Kd0 = 0.0f;
// 圆环侧面角度环
float yuc_Kp = 4.4f;
// 速度环
float sp_Kp = 3.40f;
float sp_Ki = 3.6f;
float sp_Kd = 0.0f;
////////////////////////////////////////////////////
// 当前和输入量
float in_gyro;
float out_gyro;
// 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 set_gyro = 0.0f;
float rate_K1 = 0;
float rate_K2 = 0;
float in_speed;
float out_speed;
float last_angle;
float set_speed;
float set_speed0 = 657.0f;
float set_speed1 = 1111.0f;
float set_speed2 = 815.f;
float set_speed3 = 666.f;
float set_speed4 = 720.f;
int cnt1         = 0;
int cnt2         = 0;
int cnt3         = 0;
int cnt4         = 0; //
int cnt5         = 0;
int cnt6         = 0; //
int cnt7         = 0;
int cnt8         = 0;
int cnt9         = 0; //
int cnt10        = 0; //
int if_start     = 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;
int32_t stop_cnt         = 0;
int32_t last_lb          = 0;
int32_t last_rb          = 0;
float start_dis          = 0;
float set_dis            = 1.f;
uint8_t go_cnt           = 0; // 0 停车 1 测试侧向风扇 2 启动 3成功运行
float bug_sw             = 0;
float out_sw             = 0;
float sho_sw             = 0;
uint8_t bug_show_flag    = 0;
uint8_t out_show_flag    = 0;
uint8_t up_show_flag     = 0;
uint8_t finish_show_flag = 0;
/*
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;

    ////////////////////////////////////////停车任务///////////////////////////////////////////////
    // 抖动停车，计次50
    if (imu660ra_acc_z <= 800) {
        cnt7++;
    } else {
        cnt7 = 0;
    }
    if (cnt7 >= 50 && (uint8_t)sho_sw == 1) {
        bt_fly_flag = bt_run_flag = 0;
        bt_printf("up");
        up_show_flag = 1;
        go_cnt       = 0;
    }
    // 異常值停车
    if (fabs(in_angle - last_angle) > 45.f && (uint8_t)bug_sw == 1) {
        bt_fly_flag = bt_run_flag = 0;
        bt_printf("bug");
        bug_show_flag = 1;
        go_cnt        = 0;
    }
    // 斑马线停车,摄像头识别，屏蔽发车前的十秒钟
    if (1 == in_stop && if_start == 1) {
        stop_flag = 1;
    }
    if (stop_flag == 1) {
        bt_printf("finish");
        finish_show_flag = 1;
        bt_fly_flag = bt_run_flag = 0;
        go_cnt                    = 0;
    }
    // 出界停车,已经积分路过斑马线，保证斑马线不会触发
    if (2 == in_stop && ((start_dis >= set_dis) || bt_run_flag == 0) && (uint8_t)out_sw == 1) {
        bt_printf("out");
        out_show_flag = 1;
        go_cnt        = 0;
        bt_fly_flag = bt_run_flag = 0;
    }

    //////////////////////////////////////////////// 动力风扇设置 */////////////////////////////////////////////////////////
    if (1 == bt_run_flag) {
        cnt1++;
        cnt2++;
        cnt5++;
        // 斑马线积分,系数随便给的
        start_dis += in_speed * 0.0000018f;
        if (if_start == 0) {
            cnt8++;

            if (cnt8 >= 5000) {
                if_start = 1;
            }
        }
        // pid参数切换
        if ((last_state != in_state) && (in_state == 2)) { // 直道

            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);
            PID_SetTunings(&pos_pid, po_Kp1, po_Ki1, po_Kd1);
        } else if ((last_state != in_state) && in_state == 1) { // 弯道
            bt_printf("to 入弯");
            if (fabs(in_pos) <= 12.0f) {
                set_speed = set_speed0 - fabs(rate_K1 * myclip_f(in_pos, -50.f, 50.f));
            } else {
                set_speed = set_speed0 - fabs(rate_K2 * myclip_f(in_pos, -50.f, 50.f));
            }

            PID_SetTunings(&far_angle_pid, an_Kp0, an_Ki0, an_Kd0);
            PID_SetTunings(&far_gyro_pid, gy_Kp0, gy_Ki0, gy_Kd0);
            PID_SetTunings(&pos_pid, cn_Kp1, cn_Ki1, cn_Kd1);
        } else if ((last_state != in_state) && (in_state == 3 || in_state == 4)) { // 圆环
            bt_printf("to 圆环");
            if (in_state == 3)
                set_speed = set_speed2;
            else
                set_speed = set_speed3;

            PID_SetTunings(&far_angle_pid, yu_Kp0, yu_Ki0, yu_Kd0);
            PID_SetTunings(&far_gyro_pid, ygy_Kp0, ygy_Ki0, ygy_Kd0);
            PID_SetTunings(&pos_pid, yuc_Kp, cn_Ki1, cn_Kd1);
        } else if ((last_state != in_state) && in_state == 5) { //
            bt_printf("to 障碍");
            set_speed = set_speed4;
            start_dis = 0;
            PID_SetTunings(&far_angle_pid, za_Kp, za_Ki, za_Kd);
            PID_SetTunings(&far_gyro_pid, zg_Kp, zg_Ki, zg_Kd);
            PID_SetTunings(&pos_pid, zp_Kp, zp_Ki, zp_Kd);
        }

        if (in_state == 1) {
            if (fabs(in_pos) <= 12.0f) {
                set_speed = set_speed0 - fabs(rate_K1 * myclip_f(in_pos, -50.f, 50.f));
            } else {
                set_speed = set_speed0 - fabs(rate_K2 * myclip_f(in_pos, -50.f, 50.f));
            }
        }
        // 记录上一次状态
        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;
            PID_Compute(&far_angle_pid);
        }
        if (cnt5 >= 20) {

            PID_Compute(&pos_pid);
            PID_Compute(&speed_pid);
            cnt5 = 0;
        }
        // 并级pid，限幅
        pwm_duty_ls = (int32_t)myclip_f(240 - out_pos, 100.0f, 500.f);
        pwm_duty_rs = (int32_t)myclip_f(240 + out_pos, 100.0f, 500.f);
        // 并级pid的缺点补偿
        if (out_speed >= 1000) {
            pwm_duty_lb = (int32_t)myclip_f(out_speed + out_gyro, 1000.0f, 3000.f);
            pwm_duty_rb = (int32_t)myclip_f(out_speed - out_gyro, 1000.0f, 3000.f);
        } else {
            pwm_duty_lb = (int32_t)myclip_f(out_speed + 4 * out_gyro, 1000.0f, 3000.f);
            pwm_duty_rb = (int32_t)myclip_f(out_speed - 4 * out_gyro, 1000.0f, 3000.f);
        }

        if (pwm_duty_lb - last_lb > 1000) {
            pwm_duty_lb = (pwm_duty_lb + last_lb) / 2;
        }
        if (pwm_duty_rb - last_rb > 1000) {
            pwm_duty_rb = (pwm_duty_rb + last_rb) / 2;
        }

        last_rb = pwm_duty_rb;
        last_lb = pwm_duty_lb;

        by_pwm_power_duty(500 + pwm_duty_ls, 500 + pwm_duty_rs, 3000 + pwm_duty_lb, 3000 + pwm_duty_rb);
    } else {
        by_pwm_power_duty(0, 0, 0, 0);
    }
    ///////////////////////////////////////////////////* 升力风扇设置 */ /////////////////////////////////////////////////////////////////////////////////////////////////
    if (bt_fly_flag == 1) {
        by_pwm_update_duty(bt_fly + 500, bt_fly + 500);
        if (bt_run_flag == 0) {
            // 测试状态
            if (1 == go_cnt) {
                by_pwm_power_duty(600, 600, 3000, 3000);
            } else if (2 == go_cnt) {
                cnt3++;
                if (cnt3 < 2000) {
                    by_pwm_power_duty(600, 600, 3000, 3000);
                } else if (cnt3 >= 2000 && cnt3 < 3000) {
                    by_pwm_power_duty(600, 600, 4000, 4000);
                } else if (cnt3 >= 3000) {
                    bt_run_flag = 1;
                    go_cnt      = 3;
                    cnt3        = 0;
                }
            }
        }
    } else {
        by_pwm_update_duty(500, 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, 10);
    PID_SetOutputLimits(&far_angle_pid, -6000.0f, 6000.0f);
    // 侧面位置环
    PID(&pos_pid, &in_angle, &out_pos, &set_pos, po_Kp1, po_Ki1, po_Kd1, _PID_P_ON_E, _PID_CD_REVERSE);
    PID_SetMode(&pos_pid, _PID_MODE_AUTOMATIC);
    PID_SetSampleTime(&pos_pid, 20);
    PID_SetOutputLimits(&pos_pid, -260.0f, 260.0f);

    /* 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, -2100.0f, 2100.0f);

    /* 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, 2500.0f);
}