#include "gimbal.h"
#include "robot_def.h"
#include "dmmotor.h"
#include "ins_task.h"
#include "message_center.h"
#include "general_def.h"

static INS_t *gimbal_IMU_data;

static Publisher_t *gimbal_pub;
static Subscriber_t *gimbal_sub;
static Subscriber_t *motor_enable_sub;
static Subscriber_t *motor_pid_sub;
static Subscriber_t *feedforward_sub;
static Gimbal_Upload_Data_s gimbal_feedback_data;
static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv;

static DMMotorInstance *yaw_motor;   // DM-G6220
static DMMotorInstance *pitch_motor; // DM-J4310-2EC

void GimbalInit()
{
    gimbal_IMU_data = INS_Init();

    gimbal_pub = PubRegister("gimbal_feed", sizeof(Gimbal_Upload_Data_s));
    gimbal_sub = SubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));
    motor_enable_sub = SubRegister("motor_enable", sizeof(Motor_Enable_s));
    motor_pid_sub    = SubRegister("motor_pid", sizeof(Motor_PID_Tune_s));
    feedforward_sub  = SubRegister("gimbal_feedforward", sizeof(Gimbal_Feedforward_s));

    /* ---- Yaw: DM-G6220, CAN1, TX=0x01, RX=0xF1, Velocity模式 ---- */
    DM_Motor_Init_Config_s yaw_config = {
        .motor_config = {
            .can_init_config = {
                .can_handle = &hcan1,
                .tx_id      = 0x01,
                .rx_id      = 0xF1,
            },
            .controller_param_init_config = {
                .angle_PID = {
                    .Kp = 1, .Ki = 0, .Kd = 0,
                    .IntegralLimit = 45,
                    .CoefA = 15, .CoefB = 5,
                    .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |
                               PID_Derivative_On_Measurement | PID_ChangingIntegrationRate,
                    .MaxOut = 2000,
                },
                .other_angle_feedback_ptr = &gimbal_IMU_data->YawTotalAngle,
                .other_speed_feedback_ptr = &gimbal_IMU_data->Gyro[2],
            },
            .output_reverse = OUTPUT_DIRECTION_NORMAL,
            .motor_type = DM_MOTOR,
        },
        .ctrl_mode = DM_MODE_VELOCITY,
        .DM_Feedforward_Kp = 0.9f,
        .mit_kp = 0, .mit_kd = 0,
    };
    yaw_motor = DMMotorInit(&yaw_config);

    /* ---- Pitch: DM-J4310-2EC, CAN1, TX=0x02, RX=0xF2, Velocity模式 ---- */
    DM_Motor_Init_Config_s pitch_config = {
        .motor_config = {
            .can_init_config = {
                .can_handle = &hcan1,
                .tx_id      = 0x02,
                .rx_id      = 0xF2,
            },
            .controller_param_init_config = {
                .angle_PID = {
                    .Kp = 1, .Ki = 0, .Kd = 0,
                    .IntegralLimit = 45,
                    .CoefA = 15, .CoefB = 5,
                    .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |
                               PID_Derivative_On_Measurement | PID_ChangingIntegrationRate,
                    .MaxOut = 2000,
                },
                .other_angle_feedback_ptr = &gimbal_IMU_data->Pitch,
                .other_speed_feedback_ptr = &gimbal_IMU_data->Gyro[0],
            },
            .output_reverse = OUTPUT_DIRECTION_NORMAL,
            .motor_type = DM_MOTOR,
        },
        .ctrl_mode = DM_MODE_VELOCITY,
        .mit_kp = 0, .mit_kd = 0,
    };
    pitch_motor = DMMotorInit(&pitch_config);

    gimbal_feedback_data.gimbal_imu_data = gimbal_IMU_data;
}

void GimbalTask()
{
    /* 角度环参考值设定 */
    if(SubGetMessage(gimbal_sub, &gimbal_cmd_recv))
    {
        DMMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw);
        DMMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
    }
    
    /* 前馈输入 */
    static Gimbal_Feedforward_s feedforward_msg;
    if (SubGetMessage(feedforward_sub, &feedforward_msg))
    {
        yaw_motor->feedforward_controller.feed_input = feedforward_msg.feedforward;
    }

    /* 电机使能/失能控制 */
    static Motor_Enable_s enable_msg;
    if (SubGetMessage(motor_enable_sub, &enable_msg))
    {
        if (enable_msg.enable)
        {
            DMMotorSetMode(DM_CMD_ENABLE_MODE, yaw_motor);
            DMMotorSetMode(DM_CMD_ENABLE_MODE, pitch_motor);
        }
        else
        {
            DMMotorSetMode(DM_CMD_DISABLE_MODE, yaw_motor);
            DMMotorSetMode(DM_CMD_DISABLE_MODE, pitch_motor);
        }
    }

    /* 电机角度环 PID 调参 */
    static Motor_PID_Tune_s pid_tune;
    if (SubGetMessage(motor_pid_sub, &pid_tune))
    {
        yaw_motor->motor_controller.angle_PID.Kp = pid_tune.yaw_Kp;
        yaw_motor->motor_controller.angle_PID.Ki = pid_tune.yaw_Ki;
        yaw_motor->motor_controller.angle_PID.Kd = pid_tune.yaw_Kd;

        pitch_motor->motor_controller.angle_PID.Kp = pid_tune.pitch_Kp;
        pitch_motor->motor_controller.angle_PID.Ki = pid_tune.pitch_Ki;
        pitch_motor->motor_controller.angle_PID.Kd = pid_tune.pitch_Kd;
    }

    PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data);
}