// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2012/08/21
//  filename:   X4.cpp
//
//  author:     Osamah Saif, Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    classe definissant un x4
//
/*********************************************************************/

#include "X4.h"
#include "Simulator.h"
#include <SimuBldc.h>
#include <TabWidget.h>
#include <Tab.h>
#include <DoubleSpinBox.h>
#include <GroupBox.h>
#include <math.h>
#ifdef GL
#include <ISceneManager.h>
#include "Blade.h"
#include "MeshSceneNode.h"
#include "Gui.h"
#include <Mutex.h>
#endif

#define K_MOT 0.4f //blade animation
#define G (float)9.81 //gravity ( N/(m/s²) )

#ifdef GL
using namespace irr::video;
using namespace irr::scene;
using namespace irr::core;
#endif
using namespace flair::core;
using namespace flair::gui;
using namespace flair::actuator;

namespace flair
{
namespace simulator
{

X4::X4(const Simulator* parent,std::string name, int dev_id): Model(parent,name)
{
    Tab *setup_tab=new Tab(GetTabWidget(),"model");
        m=new DoubleSpinBox(setup_tab->NewRow(),"mass (kg):",0,20,0.1);
        arm_length=new DoubleSpinBox(setup_tab->LastRowLastCol(),"arm length (m):",0,2,0.1);
        //l_cg=new DoubleSpinBox(setup_tab,"position G (m):",0,2,-0.5,0.5,0.02);//position du centre de gravité/centre de poussé
        k_mot=new DoubleSpinBox(setup_tab->NewRow(),"k_mot:",0,1,0.001,3);// vitesse rotation² (unité arbitraire) -> force (N)
        c_mot=new DoubleSpinBox(setup_tab->LastRowLastCol(),"c_mot:",0,1,0.001,3);// vitesse rotation moteur -> couple (N.m/unité arbitraire)
        f_air_vert=new DoubleSpinBox(setup_tab->NewRow(),"f_air_vert:",0,10,1);//frottements air depl. vertical, aussi utilisé pour les rotations ( N/(m/s) ) (du aux helices en rotation)
        f_air_lat=new DoubleSpinBox(setup_tab->LastRowLastCol(),"f_air_lat:",0,10,1);//frottements air deplacements lateraux ( N/(m/s) )
        j_roll=new DoubleSpinBox(setup_tab->NewRow(),"j_roll:",0,1,0.001,5); //moment d'inertie d'un axe (N.m.s²/rad)
        j_pitch=new DoubleSpinBox(setup_tab->LastRowLastCol(),"j_pitch:",0,1,0.001,5); //moment d'inertie d'un axe (N.m.s²/rad)
        j_yaw=new DoubleSpinBox(setup_tab->LastRowLastCol(),"j_yaw:",0,1,0.001,5); //moment d'inertie d'un axe (N.m.s²/rad)

    motors=new SimuBldc(this,name,4,dev_id);
}

X4::~X4()
{
    //les objets irrlicht seront automatiquement detruits (moteurs, helices, pales) par parenté
}


#ifdef GL

void X4::Draw(void)
{
    //create unite (1m=100cm) UAV; scale will be adapted according to arm_length parameter
    //note that the frame used is irrlicht one:
    //left handed, North East Up
    const IGeometryCreator *geo;
    geo=getGui()->getSceneManager()->getGeometryCreator();

    //cylinders are aligned with y axis
    red_arm=geo->createCylinderMesh(2.5,100,16,SColor(0, 255, 0, 0));
    black_arm=geo->createCylinderMesh(2.5,100,16,SColor(0, 128, 128, 128));
    motor=geo->createCylinderMesh(7.5,15,16);//,SColor(0, 128, 128, 128));
    //geo->drop();

    ITexture* texture=getGui()->getTexture("carbone.jpg");
    fl_arm=new MeshSceneNode(this, red_arm, vector3df(0,0,0),vector3df(0,0,-135));
    fr_arm=new MeshSceneNode(this, red_arm, vector3df(0,0,0),vector3df(0,0,-45));
    rl_arm=new MeshSceneNode(this, black_arm, vector3df(0,0,0),vector3df(0,0,135),texture);
    rr_arm=new MeshSceneNode(this, black_arm, vector3df(0,0,0),vector3df(0,0,45),texture);

    texture=getGui()->getTexture("metal047.jpg");
    fl_motor=new MeshSceneNode(this, motor, vector3df(70.71,-70.71,2.5),vector3df(90,0,0),texture);
    fr_motor=new MeshSceneNode(this, motor ,vector3df(70.71,70.71,2.5),vector3df(90,0,0),texture);
    rl_motor=new MeshSceneNode(this, motor ,vector3df(-70.71,-70.71,2.5),vector3df(90,0,0),texture);
    rr_motor=new MeshSceneNode(this, motor ,vector3df(-70.71,70.71,2.5),vector3df(90,0,0),texture);

    fl_blade=new Blade(this, vector3df(70.71,-70.71,17.5));
    fr_blade=new Blade(this, vector3df(70.71,70.71,17.5),true);
    rl_blade=new Blade(this, vector3df(-70.71,-70.71,17.5),true);
    rr_blade=new Blade(this, vector3df(-70.71,70.71,17.5));

    motor_speed_mutex=new Mutex(this);
    for(int i=0;i<4;i++) motor_speed[i]=0;
    ExtraDraw();
}

void X4::AnimateModel(void)
{
    motor_speed_mutex->GetMutex();
    fl_blade->SetRotationSpeed(K_MOT*motor_speed[0]);
    fr_blade->SetRotationSpeed(-K_MOT*motor_speed[1]);
    rl_blade->SetRotationSpeed(-K_MOT*motor_speed[2]);
    rr_blade->SetRotationSpeed(K_MOT*motor_speed[3]);
    motor_speed_mutex->ReleaseMutex();

    //adapt UAV size
    if(arm_length->ValueChanged()==true)
    {
        setScale(arm_length->Value());
    }
}

size_t X4::dbtSize(void) const
{
    return 6*sizeof(float)+4*sizeof(float);//6ddl+4helices
}

void X4::WritedbtBuf(char* dbtbuf)
{/*
    float *buf=(float*)dbtbuf;
    vector3df vect=getPosition();
    memcpy(buf,&vect.X,sizeof(float));
    buf++;
    memcpy(buf,&vect.Y,sizeof(float));
    buf++;
    memcpy(buf,&vect.Z,sizeof(float));
    buf++;
    vect=getRotation();
    memcpy(buf,&vect.X,sizeof(float));
    buf++;
    memcpy(buf,&vect.Y,sizeof(float));
    buf++;
    memcpy(buf,&vect.Z,sizeof(float));
    buf++;
    memcpy(buf,&motors,sizeof(rtsimu_motors));*/
}

void X4::ReaddbtBuf(char* dbtbuf)
{/*
    float *buf=(float*)dbtbuf;
    vector3df vect;
    memcpy(&vect.X,buf,sizeof(float));
    buf++;
    memcpy(&vect.Y,buf,sizeof(float));
    buf++;
    memcpy(&vect.Z,buf,sizeof(float));
    buf++;
    setPosition(vect);
    memcpy(&vect.X,buf,sizeof(float));
    buf++;
    memcpy(&vect.Y,buf,sizeof(float));
    buf++;
    memcpy(&vect.Z,buf,sizeof(float));
    buf++;
    ((ISceneNode*)(this))->setRotation(vect);
    memcpy(&motors,buf,sizeof(rtsimu_motors));
    AnimateModele();*/
}
#endif //GL

//states are computed on fixed frame NED
//x north
//y east
//z down
void X4::CalcModel(void)
{
    float fl_speed,fr_speed,rl_speed,rr_speed;
    float u_roll,u_pitch,u_yaw,u_thrust;
#ifdef GL
    motor_speed_mutex->GetMutex();
#endif //GL
    motors->GetSpeeds(motor_speed);
#ifdef GL
    motor_speed_mutex->ReleaseMutex();
#endif //GL
	fl_speed=motor_speed[0];
	fr_speed=motor_speed[1];
	rl_speed=motor_speed[2];
	rr_speed=motor_speed[3];

    /*
	** ===================================================================
	**    u roll: roll torque
	**
	** ===================================================================
	*/
	u_roll=arm_length->Value()*k_mot->Value()*(fl_speed*fl_speed+rl_speed*rl_speed-fr_speed*fr_speed-rr_speed*rr_speed)*sqrtf(2)/2;

    /// Classical Nonlinear model of a quadrotor ( This is the w_x angular speed of the quadri in the body frame). It is a discrete integrator
	state[0].W.x=(dT()/j_roll->Value())*((j_yaw->Value()-j_pitch->Value())*state[-1].W.y*state[-1].W.z + u_roll) +state[-1].W.x;

	//u_roll=arm_length->Value()*k_mot->Value()*(fl_speed*fl_speed+rl_speed*rl_speed-fr_speed*fr_speed-rr_speed*rr_speed)*sqrtf(2)/2;
	//state[0].W.x=(dT()/j_roll->Value())*(u_roll-m->Value()*G*l_cg->Value()*sinf(state[-2].W.x)-f_air_vert->Value()*arm_length->Value()*arm_length->Value()*state[-1].W.x)+state[-1].W.x;

	/*
	** ===================================================================
	**   u pitch : pitch torque
	**
	** ===================================================================
	*/
	u_pitch=arm_length->Value()*k_mot->Value()*(fl_speed*fl_speed+fr_speed*fr_speed-rl_speed*rl_speed-rr_speed*rr_speed)*sqrtf(2)/2;

    /// Classical Nonlinear model of a quadrotor ( This is the w_y angular speed of the quadri in the body frame). It is a discrete integrator
	state[0].W.y=(dT()/j_pitch->Value())*((j_roll->Value()-j_yaw->Value())*state[-1].W.x*state[-1].W.z + u_pitch)+state[-1].W.y;

	//u_pitch=arm_length->Value()*k_mot->Value()*(fl_speed*fl_speed+fr_speed*fr_speed-rl_speed*rl_speed-rr_speed*rr_speed)*sqrtf(2)/2;
	//state[0].W.y=(dT()/j_pitch->Value())*(u_pitch-m->Value()*G*l_cg->Value()*sinf(state[-2].W.y)-f_air_vert->Value()*arm_length->Value()*arm_length->Value()*state[-1].W.y)+state[-1].W.y;

	/*
	** ===================================================================
	**    u yaw : yaw torque
	**
	** ===================================================================
	*/
	u_yaw=c_mot->Value()*(fl_speed*fl_speed+rr_speed*rr_speed-fr_speed*fr_speed-rl_speed*rl_speed);

    /// Classical Nonlinear model of a quadrotor ( This is the w_z angular speed of the quadri in the body frame). It is a discrete integrator
	state[0].W.z=(dT()/j_yaw->Value())* u_yaw +state[-1].W.z;

	//u_yaw=c_mot->Value()*(fl_speed*fl_speed+rr_speed*rr_speed-fr_speed*fr_speed-rl_speed*rl_speed);
	//state[0].W.z=(dT()/j_yaw->Value())*(u_yaw-f_air_lat->Value()*state[-1].W.z)+state[-1].W.z;

    // compute quaternion from W
    // Quaternion derivative: dQ = 0.5*(Q*Qw)
    Quaternion dQ=state[-1].Quat.GetDerivative(state[0].W);

    // Quaternion integration
    state[0].Quat = state[-1].Quat +dQ*dT();
    state[0].Quat.Normalize();

    // Calculation of the thrust from the reference speed of motors
	u_thrust=k_mot->Value()*(fl_speed*fl_speed+fr_speed*fr_speed+rl_speed*rl_speed+rr_speed*rr_speed);
    Vector3D vect(0,0,-u_thrust);
    vect.Rotate(state[0].Quat);

    /*
	** ===================================================================
	**     x double integrator
	**
	** ===================================================================
	*/
	state[0].Pos.x=(dT()*dT()/m->Value())*(vect.x-f_air_lat->Value()*(state[-1].Pos.x-state[-2].Pos.x)/dT())+2*state[-1].Pos.x-state[-2].Pos.x;
    state[0].Vel.x=(state[0].Pos.x-state[-1].Pos.x)/dT();

	/*
	** ===================================================================
	**     y double integrator
	**
	** ===================================================================
	*/
	state[0].Pos.y=(dT()*dT()/m->Value())*(vect.y-f_air_lat->Value()*(state[-1].Pos.y-state[-2].Pos.y)/dT())+2*state[-1].Pos.y-state[-2].Pos.y;
    state[0].Vel.y=(state[0].Pos.y-state[-1].Pos.y)/dT();

	/*
	** ===================================================================
	**     z double integrator
	**
	** ===================================================================
	*/
	state[0].Pos.z=(dT()*dT()/m->Value())*(vect.z+f_air_vert->Value()*(state[-1].Pos.z-state[-2].Pos.z)/dT()+m->Value()*G)+2*state[-1].Pos.z-state[-2].Pos.z;
    state[0].Vel.z=(state[0].Pos.z-state[-1].Pos.z)/dT();

#ifndef GL
    if(state[0].Pos.z<0) state[0].Pos.z=0;
#endif

}

} // end namespace simulator
} // end namespace flair