#include "Task.h"
#include "zf_driver_pit.h"
#include "zf_device_key.h"
#include "zf_common_interrupt.h"
#include "IMU.h"
#include "Beep.h"
#include "GrayscaleSensor.h"
#include "Motor.h"
#include "MotorEncoder.h"
#include "PID_Controller.h"
#include "Command.h"


volatile uint8_t motor_control_task_enable = 0;
volatile uint8_t angle_control_task_enable = 0;
volatile uint8_t position_control_task_enable = 0;

/*速度环的输入，开启角度环后由角度环接管(范围-50到+50)*/
volatile int16_t motor_speed_right_ref = 0;
volatile int16_t motor_speed_left_ref = 0;
/*角度环接管速度之后的基础直行速度*/
volatile int16_t motor_speed_base = 0;
/*角度环输入，开启位置环后由位置环接管*/
volatile float yaw_ref = 0;
/*位置环的输出*/
volatile float angle_velocity = 0;

volatile PIDInstance pid_speed_right={0};
volatile PIDInstance pid_speed_left={0};
volatile PIDInstance pid_yaw = {0};
volatile PIDInstance pid_position = {0};


void motor_control_init(float T);
void angle_control_init(float T);
void position_control_init(float T);
void angle_control_task(void);
void position_control_task(void);
void motor_control_task(void);
void Task_10ms(uint32 state, void *ptr)
{
    // 10ms 执行一次的任务代码(100Hz)
    motor_encoder_update();
    if(motor_control_task_enable)
        motor_control_task();
    
}
void Task_20ms(uint32 state, void *ptr)
{
    // 20ms 执行一次的任务代码(50Hz)
    grayscale_sensor_scan();
    if(position_control_task_enable)
        position_control_task();

    imu_update();
    if(angle_control_task_enable)
        angle_control_task();
}
void Task_50ms(uint32 state, void *ptr)
{
    // 50ms 执行一次的任务代码(20Hz)
    key_scanner();
    beep_actuator();
}
void task_init(void)
{
    motor_control_init(0.01f);
    angle_control_init(0.02f);
    position_control_init(0.02f);

    pit_ms_init(PIT_TIM_A0,10,Task_10ms,NULL);
    interrupt_set_priority(TIMA0_INT_IRQn,1);
    pit_ms_init(PIT_TIM_A1,20,Task_20ms,NULL);
    interrupt_set_priority(TIMA1_INT_IRQn,1);
    pit_ms_init(PIT_TIM_G6,50,Task_50ms,NULL);
    interrupt_set_priority(TIMG6_INT_IRQn,7);
}

void motor_control_init(float T)
{
    PID_Init_Config_s config_right = {
        .Kp = 300.0f,
        .Ki = 150.0f,
        .Kd = 0.0f,
        .T = T,
        .MaxOut = MOTOR_MAX
    };
    PIDInit((PIDInstance *)&pid_speed_right, &config_right);
    PID_Init_Config_s config_left = {
        .Kp = 300.0f,
        .Ki = 150.0f,
        .Kd = 0.0f,
        .T = T,
        .MaxOut = MOTOR_MAX
    };
    PIDInit((PIDInstance *)&pid_speed_left, &config_left);
}
void motor_control_task(void)
{
    float pwm_right = PIDCalculate((PIDInstance *)&pid_speed_right,motor_speed_right.value,motor_speed_right_ref);
    float pwm_left = PIDCalculate((PIDInstance *)&pid_speed_left,motor_speed_left.value,motor_speed_left_ref);
    
    motor_set_pwm_right(pwm_right);
    motor_set_pwm_left(pwm_left);
}
void angle_control_init(float T)
{
    PID_Init_Config_s config_yaw = {
        .Kp = 1.0f,
        .Ki = 0.0f,
        .Kd = 0.0f,
        .T = T,
        .MaxOut = 25,
        .Improve = PID_Yaw_Error_Corretion
    };
    PIDInit((PIDInstance *)&pid_yaw, &config_yaw);
}
void angle_control_task(void)
{
    float speed_dif = PIDCalculate((PIDInstance *)&pid_yaw,imu_angle.yaw,yaw_ref);
    motor_speed_left_ref = motor_speed_base - speed_dif;
    motor_speed_right_ref = motor_speed_base + speed_dif;
}
void position_control_init(float T)
{
    PID_Init_Config_s config_position = {
        .Kp = 0.5f,
        .Ki = 0.0f,
        .Kd = 0.0f,
        .T = T,
        .MaxOut = 90,
    };
    PIDInit((PIDInstance *)&pid_position, &config_position);
}
void position_control_task(void)
{
    //角度速率（单位度/秒）
    angle_velocity = PIDCalculate((PIDInstance *)&pid_position,grayscale_sensor_position,0);

    //发送给云台，角度速率前馈
    command_send_angle_velocity((float*)&angle_velocity);

    set_yaw_ref(yaw_ref + angle_velocity*pid_position.dt);
}
void set_yaw_ref(float set_value)
{
    if(set_value>180)
    {
        while(set_value > 180)
            set_value -= 360;
    }
    else if(set_value<-180)
    {
        while(set_value < -180)
            set_value += 360;
    }
    yaw_ref = set_value;
}