// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2011/05/01
//  filename:   Pid_impl.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Class defining a PID
//
//
/*********************************************************************/
#include "Pid_impl.h"
#include "Pid.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;

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

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

    cvmatrix_descriptor* desc=new cvmatrix_descriptor(4,1);
    desc->SetElementName(0,0,"p");
    desc->SetElementName(1,0,"i");
    desc->SetElementName(2,0,"d");
    desc->SetElementName(3,0,"p+i+d");
    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:",0,90000000,0.01,3);
    ki=new DoubleSpinBox(reglages_groupbox->NewRow(),"ki:",0,90000000,0.01,3);
    sati=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"sat i:",0,1,0.01);
    kd=new DoubleSpinBox(reglages_groupbox->NewRow(),"kd:",0,90000000,0.01,3);
    sat=new DoubleSpinBox(reglages_groupbox->NewRow(),"sat:",0,1,0.1);
}

Pid_impl::~Pid_impl(void) {
}

void Pid_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);
}

void Pid_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->ReleaseMutex();

    self->output->SetValue(0,0,total);
    self->output->SetDataTime(data->DataTime());

    previous_time=data->DataTime();
}