//  created:    2013/04/08
//  filename:   TrajectoryGenerator2DCircle_impl.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    objet permettant la generation d'une trajectoire cercle
//
//
/*********************************************************************/

#include "TrajectoryGenerator2DCircle_impl.h"
#include "TrajectoryGenerator2DCircle.h"
#include <cvmatrix.h>
#include <Layout.h>
#include <GroupBox.h>
#include <DoubleSpinBox.h>
#include <cmath>

#define PI ((float)3.14159265358979323846)

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

TrajectoryGenerator2DCircle_impl::TrajectoryGenerator2DCircle_impl(TrajectoryGenerator2DCircle* self,const LayoutPosition* position,string name) {
    first_update=true;
    is_running=false;
    is_finishing=false;

    //init UI
   GroupBox* reglages_groupbox=new GroupBox(position,name);
        T=new DoubleSpinBox(reglages_groupbox->NewRow(),"period, 0 for auto"," s",0,1,0.01);
        rayon=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"R"," m",0,1000,.1);
        veloctity=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"velocity"," m/s",-10,10,1);
        acceleration=new DoubleSpinBox(reglages_groupbox->LastRowLastCol(),"acceleration (absolute)"," m/s²",0,10,.1);

    //init matrix
    cvmatrix_descriptor* desc=new cvmatrix_descriptor(2,2);
    desc->SetElementName(0,0,"pos.x");
    desc->SetElementName(0,1,"pos.y");
    desc->SetElementName(1,0,"vel.x");
    desc->SetElementName(1,1,"vel.y");
    output=new cvmatrix(self,desc,floatType,name);

    output->SetValue(0,0,0);
    output->SetValue(0,1,0);
    output->SetValue(1,0,0);
    output->SetValue(1,1,0);
}


TrajectoryGenerator2DCircle_impl::~TrajectoryGenerator2DCircle_impl() {
    delete output;
}

void TrajectoryGenerator2DCircle_impl::StartTraj(const Vector2D &start_pos,float nb_lap) {
    is_running=true;
    first_update=true;
    is_finishing=false;
    this->nb_lap=nb_lap;

    //configure trajectory
    angle_off=atan2(start_pos.y-pos_off.y,start_pos.x-pos_off.x);
    CurrentTime=0;
}

void TrajectoryGenerator2DCircle_impl::FinishTraj(void) {
    if(!is_finishing) {
        is_finishing=true;
        FinishTime=CurrentTime;
    }
}

void TrajectoryGenerator2DCircle_impl::Update(Time time) {
    float delta_t;
    float theta;
    float V=veloctity->Value();
    float A=acceleration->Value();
    float R=rayon->Value();
    Vector2D v;

    if(V<0) A=-A;

    if(T->Value()==0) {
        if(first_update) {
            first_update=false;
            previous_time=time;
            return;
        } else {
            delta_t=(float)(time-previous_time)/1000000000.;
        }
    } else {
        delta_t=T->Value();
    }
    previous_time=time;
    CurrentTime+=delta_t;

    if(is_finishing && CurrentTime>FinishTime+V/A) is_running=false;

    if(is_running) {
        if(R==0) {
            pos.x=0;
            pos.y=0;
            v.x=0;
            v.y=0;
        } else {
            if(CurrentTime<V/A) {
                theta=angle_off+A/2*CurrentTime*CurrentTime/R;
                pos.x=R*cos(theta);
                pos.y=R*sin(theta);
                v.x=-A*CurrentTime*sin(theta);
                v.y=A*CurrentTime*cos(theta);
            } else {
                if(!is_finishing) {
                    theta=angle_off+V*V/(2*A*R)+(CurrentTime-V/A)*V/R;
                    pos.x=R*cos(theta);
                    pos.y=R*sin(theta);
                    v.x=-V*sin(theta);
                    v.y=V*cos(theta);
                } else {
                    theta=angle_off+V*V/(2*A*R)+(FinishTime-V/A)*V/R-A/2*(FinishTime-CurrentTime)*(FinishTime-CurrentTime)/R+V*(CurrentTime-FinishTime)/R;
                    pos.x=R*cos(theta);
                    pos.y=R*sin(theta);
                    v.x=-(V+A*(FinishTime-CurrentTime))*sin(theta);
                    v.y=(V+A*(FinishTime-CurrentTime))*cos(theta);
                }
            }
        }

        if(theta-angle_off>=nb_lap*2*PI-(-A/2*(V/A)*(V/A)/R+V*(V/A)/R) && nb_lap>0) {
            FinishTraj();
        }
    } else {
        v.x=0;
        v.y=0;
    }

    //on prend une fois pour toute les mutex et on fait des accès directs
    output->GetMutex();
    output->SetValueNoMutex(0,0,pos.x+pos_off.x);
    output->SetValueNoMutex(0,1,pos.y+pos_off.y);
    output->SetValueNoMutex(1,0,v.x+vel_off.x);
    output->SetValueNoMutex(1,1,v.y+vel_off.y);
    output->ReleaseMutex();

    output->SetDataTime(time);
}