// %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 <SimuBldc.h>
#include <TabWidget.h>
#include <Tab.h>
#include <DoubleSpinBox.h>
#include <SpinBox.h>
#include <GroupBox.h>
#include <math.h>
#ifdef GL
#include <ISceneManager.h>
#include <IMeshManipulator.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(std::string name, uint32_t modelId)
    : Model(name,modelId) {
  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)
                            
  motorTimeout = new SpinBox(setup_tab->NewRow(), "motor timeout:","ms", 0, 1000, 100,100);
  
  Tab *visual_tab = new Tab(GetTabWidget(), "visual");
  armColorR = new SpinBox(visual_tab->NewRow(), "arm color (R):", 0, 255, 1,255);
  armColorG = new SpinBox(visual_tab->LastRowLastCol(), "arm color (G):", 0, 255, 1,0);
  armColorB = new SpinBox(visual_tab->LastRowLastCol(), "arm color (B):", 0, 255, 1,0);

  motors = new SimuBldc(this, name, 4, modelId,0);
  
  SetIsReady(true);
}

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
  colored_arm = geo->createCylinderMesh(2.5, 100, 16, SColor(0, armColorR->Value(), armColorG->Value(), armColorB->Value()));
  IMesh *black_arm = geo->createCylinderMesh(2.5, 100, 16, SColor(0, 128, 128, 128));
  IMesh *motor = geo->createCylinderMesh(7.5, 15, 16); //,SColor(0, 128, 128, 128));
  // geo->drop();

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

  texture = getGui()->getTexture("metal047.jpg");
  MeshSceneNode *fl_motor = new MeshSceneNode(this, motor, vector3df(70.71, -70.71, 2.5),
                               vector3df(90, 0, 0), texture);
  MeshSceneNode *fr_motor = new MeshSceneNode(this, motor, vector3df(70.71, 70.71, 2.5),
                               vector3df(90, 0, 0), texture);
  MeshSceneNode *rl_motor = new MeshSceneNode(this, motor, vector3df(-70.71, -70.71, 2.5),
                               vector3df(90, 0, 0), texture);
  MeshSceneNode *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), vector3df(0, 0, 0),true);
  rl_blade = new Blade(this, vector3df(-70.71, -70.71, 17.5),  vector3df(0, 0, 0),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 *vector3df(0, 0, motor_speed[0]));
  fr_blade->SetRotationSpeed(-K_MOT *vector3df(0, 0, motor_speed[1]));
  rl_blade->SetRotationSpeed(-K_MOT *vector3df(0, 0, motor_speed[2]));
  rr_blade->SetRotationSpeed(K_MOT *vector3df(0, 0, motor_speed[3]));
  motor_speed_mutex->ReleaseMutex();
  
  if (armColorR->ValueChanged() == true || armColorG->ValueChanged() == true || armColorB->ValueChanged() == true) {
    getGui()->getSceneManager()->getMeshManipulator()->setVertexColors(colored_arm, SColor(0,armColorR->Value(), armColorG->Value(), armColorB->Value()));
  }

  // 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;
  Time motorTime;
#ifdef GL
  motor_speed_mutex->GetMutex();
#endif // GL
  motors->GetSpeeds(motor_speed,&motorTime);
  if((GetTime()-motorTime)/1000000>motorTimeout->Value()) {
    for(int i=0;i<4;i++) {
      if(motor_speed[i]!=0) {
         //Printf("timout\n");
        for(int i=0;i<4;i++) motor_speed[i]=0;
        break;
      }
    }
  }
#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<double> 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