//  created:    2014/11/07
//  filename:   PidThrust_impl.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Class defining a PID
//
//
/*********************************************************************/
#include "PidThrust_impl.h"
#include "PidThrust.h"
#include <cvmatrix.h>
#include <Layout.h>
#include <GroupBox.h>
#include <DoubleSpinBox.h>
#include <DataPlot1D.h>

using std::string;
using namespace flair::core;
using namespace flair::gui;
using namespace flair::filter;

PidThrust_impl::PidThrust_impl(PidThrust* self,const LayoutPosition* position,string name) {
    i=0;
    offset_g=0;
	first_update=true;
	this->self=self;

    //init matrix
    self->input=new cvmatrix(self,2,1,floatType,name);

    cvmatrix_descriptor* desc=new cvmatrix_descriptor(5,1);
    desc->SetElementName(0,0,"p");
	desc->SetElementName(1,0,"i");
	desc->SetElementName(2,0,"d");
	desc->SetElementName(3,0,"p+i+d");
	desc->SetElementName(4,0,"p+i+d+offset");
    state=new cvmatrix(self,desc,floatType,name);

    GroupBox* reglages_groupbox=new GroupBox(position,name);
            T=new DoubleSpinBox(reglages_groupbox->NewRow(),"period, 0 for auto"," s",0,1,0.01);
            kp=new DoubleSpinBox(reglages_groupbox->NewRow(),"kp:",0,90000000,0.01);
            ki=new DoubleSpinBox(reglages_groupbox->NewRow(),"ki:",0,90000000,0.01);
            sati=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"sat i:",0,1,0.01);
            kd=new DoubleSpinBox(reglages_groupbox->NewRow(),"kd:",0,90000000,0.01);
            offset=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"offset g:",0,1,0.01);
            sat=new DoubleSpinBox(reglages_groupbox->NewRow(),"sat:",0,1,0.1);
            pas_offset=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"offset step:",0,1,.0001,4);
}

PidThrust_impl::~PidThrust_impl(void) {
}

void PidThrust_impl::UseDefaultPlot(const LayoutPosition* position)
{
    DataPlot1D *plot=new DataPlot1D(position,self->ObjectName(),-1,1);
            plot->AddCurve(state->Element(0));
            plot->AddCurve(state->Element(1),DataPlot::Green);
            plot->AddCurve(state->Element(2),DataPlot::Blue);
            plot->AddCurve(state->Element(3),DataPlot::Black);
            plot->AddCurve(state->Element(4),DataPlot::Yellow);
}

void PidThrust_impl::UpdateFrom(const io_data *data)
{
    float p,d,total;
    float delta_t;
    cvmatrix *input=(cvmatrix*)data;

    if(T->Value()==0)
    {
        delta_t=(float)(data->DataTime()-previous_time)/1000000000.;
    }
    else
    {
        delta_t=T->Value();
    }
    if(first_update==true)
    {
        delta_t=0;
        first_update=false;
    }

    input->GetMutex();
    p=kp->Value()*input->ValueNoMutex(0,0);
    i+=ki->Value()*input->ValueNoMutex(0,0)*delta_t;
    if(i>sati->Value()) i=sati->Value();
    if(i<-sati->Value()) i=-sati->Value();
    d=kd->Value()*input->ValueNoMutex(1,0);
    input->ReleaseMutex();

    total=p+i+d;
    if(total>sat->Value()) total=sat->Value();
    if(total<-sat->Value()) total=-sat->Value();

    state->GetMutex();
    state->SetValueNoMutex(0,0,p);
    state->SetValueNoMutex(1,0,i);
    state->SetValueNoMutex(2,0,d);
    state->SetValueNoMutex(3,0,total);
    state->SetValueNoMutex(4,0,total-offset_g*offset_g);
    state->ReleaseMutex();

    //-offset_g, car on met -u_z dans le multiplex
    //a revoir!
    self->output->SetValue(0,0,total-offset_g*offset_g);
    self->output->SetDataTime(data->DataTime());

    previous_time=data->DataTime();
}