#include "Arduino.h"
#include "motocontrol.h"
#include "moto.h"
#include <ESP32Servo.h>
#include "config.h"

#define DEBUG_OUT false
Motocontrol::Motocontrol()
{
    _controlstatus.is_instore = false;
    _controlstatus.is_setzero = false;
    _controlstatus.is_overweight = false;
    _controlstatus.zero_cnt = 0;
    _controlstatus.motostatus = MotoStatus::MS_Stop;
    _controlstatus.speed_targe = SPEED_BTN_SLOW;
    _check_targetlength = false;
    _pullweight = 0;
    _curr_length = 0.0;
    _hooksstatus = HS_UnInit;
    _weightalign = false;
    _overweightcount = 0;
    _notweightcount = 0;
    _autogoodsdown = false;
    _servotatus = SS_ServoUnLocked; // 停止状态，为了防止舵机堵转，和延时关闭电机需要一个停止状态机
    _unblocktimes = 0;
}
Motocontrol::~Motocontrol()
{
}

bool Motocontrol::init(Servo *lockservo) // 初始化
{
    _lockservo = lockservo;
    // 不管堵转问题，马上会执行其他初始化让舵机介绍
    _lockservo->write(SERVO_LOCKPOS);
    _servotatus = SS_ServoLocked;

    return _moto_dji.init();
}
void Motocontrol::setspeed(float motospeed, float acctime) // 设置速度
{
    _controlstatus.speed_targe = motospeed;
    _moto_dji.settime_acc(acctime);
}

void Motocontrol::setweight(int pullweight) // 设置重量
{
    _pullweight = pullweight;
    checkgoods();
}
String  Motocontrol::gethooktatus_str()
{
  String hookstatusstr="未知";

   switch (_hooksstatus)
   {
    case HS_UnInit:
        hookstatusstr="未初始化";
    break;
     case HS_Down:
        hookstatusstr="放钩";
    break;
    case HS_DownSlow:
        hookstatusstr="慢速放钩";
    break;
    case HS_WaitUnhook:
        hookstatusstr="等待脱钩";
    break;
    case HS_Up:
        hookstatusstr="回收";
    break;
    case HS_InStore:
        hookstatusstr="入仓中";
    break;
    case HS_Locked:
        hookstatusstr="已锁定";
    break;
    case HS_Stop:
        hookstatusstr="停止";
    break;    
   default:
    hookstatusstr="未知";
    break;
   }
    return hookstatusstr;


}

void Motocontrol::checkgoods() // 检测是否超重
{
    // 到顶部锁定状态，有向上的压力，重量不准，不能检测
    if (_controlstatus.is_toplocked)
        return;

    // 检查是否超重
    if (_pullweight > HOOK_WEIHT_MAX)
    {
        // 防止毛刺
        _overweightcount++;
        if (_overweightcount > 40)
            _controlstatus.is_overweight = true;
    }
    else
    {
        _controlstatus.is_overweight = false;
        _overweightcount = 0;
    }

    // 检查是否有货物
    if (_pullweight < HOOK_WEIHT_MIN)
    {
        // 防止毛刺
        _notweightcount++;
        if (_notweightcount > 40)
        {
            // printf("goods weight<min 40 times :%d \n", _pullweight);
            _controlstatus.is_havegoods = false;
        }
    }
    else
    {
        _controlstatus.is_havegoods = true;
        _notweightcount = 0;
    }
}
void Motocontrol::lockservo() // 锁定舵机
{
    printf("start_lockservo\n");
    _servotatus = SS_WaitMotoStop;
    _tm_servotatus = millis();
}
void Motocontrol::unlockservo() // 解锁舵机
{
    printf("unlockservo\n");
    // 解锁操作
    _lockservo->write(SERVO_UNLOCKPOS);
    _moto_dji.setspeedtarget(-1.0f); // 解锁时逆向慢速转动
    _servotatus = SS_WaitUnLock;
    _tm_servotatus = millis();
    _unblocktimes = 0;
}
void Motocontrol::stop(float acctime) // 停止
{
    printf("stop \n");
    _moto_dji.settime_acc(acctime);
    _moto_dji.setspeedtarget(0.0f);
    _controlstatus.motostatus = MS_Stop;
    if ((_hooksstatus != HS_UnInit) || (_hooksstatus != HS_Stop))
    {
        _hooksstatus_prv = _hooksstatus;
        _hooksstatus = HS_Stop;
    }
    lockservo();
}
void Motocontrol::setlocked(bool locked)
{
    if (locked)
    {
        stop();
        setzero();
        _hooksstatus = HS_Locked;
        _autogoodsdown = false;
    }
    _controlstatus.is_toplocked = locked;
}
void Motocontrol::setzero() // 设置0长度位置
{
    // 记录0长度位置--以后需要保存到falsh里面
    _controlstatus.zero_cnt = getmotoinfo().output_round_cnt;
    _controlstatus.is_setzero = true;
}
int16_t Motocontrol::getlength() // 得到长度
{
    return 0;
}

// 检测是否挂有货物
void Motocontrol::goodsstartup()
{
    _hooksstatus = HS_WaitUnhook;
    _tm_waitunhook = millis();
}
// 重量传感器已经校准
void Motocontrol::weightalign(bool weightalign)
{
    _weightalign = weightalign;
}
void Motocontrol::checkhookstatus() // 检查挂钩状态
{
    // 需要在自动放货物中
    if (!_autogoodsdown)
        return;
    moto_measure_t mf = _moto_dji.getmotoinfo();
    _hook_currlen = _curr_length;
    switch (_hooksstatus)
    {
    // 正在下放货物
    case HookStatus::HS_Down:
    {
        // 如果没有货物--开始回收
        if (!_controlstatus.is_havegoods)
        {
            printf("HS_Down not havegoods wait unhook \n");
            goodsstartup();
            break;
        }
        if ((_goods_down_target_cnt != 0) && (mf.output_round_cnt > _goods_down_target_cnt))
        {
            _hooksstatus = HS_DownSlow;
            _moto_dji.settime_acc(500);
            set_hook_speed(SPEED_HOOK_SLOW);
        }
        break;
    }
    // 开始慢速下放
    case HookStatus::HS_DownSlow:
    {
        if (!_controlstatus.is_havegoods)
        {
            printf("HS_DownSlow not havegoods wait unhook \n");
            goodsstartup();
        }
        break;
    }
    // 等待脱钩
    case HookStatus::HS_WaitUnhook:
    {
        if ((millis() - _tm_waitunhook) > HOOK_UNHOOK_TIME)
        {
            printf("HS_WaitUnhook ok startup \n");
            _moto_dji.settime_acc(1000);
            set_hook_speed(-SPEED_HOOK_UP);
            _hooksstatus = HS_Up;
            _controlstatus.motostatus = MS_Up;
        }
        break;
    }
    // 开始收回
    case HookStatus::HS_Up:
    {
        // 会自动设置HS_Up状态
        break;
    }
    case HookStatus::HS_InStore:
    {
        // 会自动设置HS_InStore状态
        // 如果到顶部，会触发setlocked,不用在这里设置
        break;
    }
    }
}
// 检测舵机堵转---电流大或者角度不够，需要传感器
bool Motocontrol::checkservoblock()
{
    return false;
}
void Motocontrol::checkmotostatus() // 检查电机状态，比如什么时候停
{
    moto_measure_t mf = _moto_dji.getmotoinfo();

    // 停止状态---1防止舵机堵转，2延时关闭电机供电
    switch (_servotatus)
    {
    case SS_WaitUnLock: // 舵机解锁
    {
        if ((millis() - _tm_servotatus) > TM_SERVOLOCK)
        {
            // 入仓时会自动设置速度，原速度不可用
            if (!_controlstatus.is_instore)
                _moto_dji.setspeedtarget(_runspeed);
            _servotatus = SS_ServoUnLocked;
        }
        break;
    }

        // 等待电机停止
    case SS_WaitMotoStop:
    {
        if (abs(mf.speed_rpm) < 3)
        {
            _lockservo->write(SERVO_LOCKPOS);
            _servotatus = SS_WaitServo;
            _tm_servotatus = millis();
        }
        break;
    }
    // 等待舵机执行到位---------防止堵转，功能没有使用，采用硬件防堵转舵机
    case SS_WaitServo:
    {
        // 舵机执行时间
        if ((millis() - _tm_servotatus) > TM_SERVOLOCK)
        {
            // 检测堵转,没堵转直接关闭电机,否则打开舵机，让电机旋转一点再锁定--最多重复3次
            if (!checkservoblock() || (_unblocktimes > 2))
            {
                printf("SS not servoblock close moto \n");
                _moto_dji.close();
                _servotatus = SS_ServoLocked;
            }
            else
            // 堵转
            {
                printf("SS  servoblock unlock servo and turn moto \n");
                _tm_servotatus = millis();
                _servotatus = SS_WaitUnBlock;
                // 写一个不会堵转的位置
                _lockservo->write(SERVO_BLOCKUNLOCKPOS);
                // 转一点电机角度
                _moto_dji.setspeedtarget(SPEED_UNBLOCK);
            }
        }

        break;
    }
    case SS_WaitUnBlock:
    {
        if ((millis() - _tm_servotatus) > TM_UNBLOCK)
        {
            printf("SS lock servo  \n");
            // 继续锁定等待舵机检测
            _lockservo->write(SERVO_LOCKPOS);
            _servotatus = SS_WaitServo;
            _tm_servotatus = millis();
            _unblocktimes++;
        }
        break;
    }
    }

    // 已设置零点
    if (_controlstatus.is_setzero)
    {
        // 总放线长度
        _curr_length = abs(mf.output_round_cnt - _controlstatus.zero_cnt) * WHEEL_PERIMETER;
        // 不能超ROPE_MAXLENGTH
        if ((_curr_length > ROPE_MAXLENGTH) && (_controlstatus.motostatus == MS_Down))
            stop();
        // 开始入仓
        // if ((_curr_length < (INSTORE_LENGTH_MIN + (mf.output_speed_rpm * mf.output_speed_rpm) * INSTORE_LENGTH_SPEED)) && (_controlstatus.motostatus == MotoStatus::MS_Up))
        float instlen;
        if (_controlstatus.is_havegoods)
            instlen = INSTORE_LENGTH_MIN_GOODS + abs(mf.output_speed_rpm) * INSTORE_LENGTH_SPEED;
        else
            instlen = INSTORE_LENGTH_MIN_NONE + abs(mf.output_speed_rpm) * INSTORE_LENGTH_SPEED;
        if ((_curr_length < instlen) && (_controlstatus.motostatus == MotoStatus::MS_Up))
        {
            if (!_controlstatus.is_instore)
            {
                _moto_dji.settime_acc(500);
                set_hook_speed(-SPEED_INSTORE);
                _controlstatus.is_instore = true;
                _hooksstatus = HS_InStore;
                printf("begin instore currlen:%.2f,instorelen:%.2f,speed:%.2f \n", _curr_length, instlen, mf.output_speed_rpm);
            }
        }
        else
            _controlstatus.is_instore = false;
    }
    if (_check_targetlength) // 有目标长度
    {
        if (_controlstatus.motostatus == MS_Down)
        {
            if (mf.output_round_cnt > _target_cnt)
            {
                printf("stop--cnt:%.2f ,tar:%.2f\n", mf.output_round_cnt, _target_cnt);
                stop(1000); // 缓慢停止
            }
        }
        else if (_controlstatus.motostatus == MS_Up)
        {
            if (mf.output_round_cnt < _target_cnt)
            {
                printf("cnt:%.2f ,tar:%.2f\n", mf.output_round_cnt, _target_cnt);
                stop(1000); // 缓慢停止
            }
        }
    }
}

void Motocontrol::set_hook_speed(float hooksspeed)
{
    _goods_speed = hooksspeed;
    _runspeed = hooksspeed;
    _moto_dji.setspeedtarget(hooksspeed);
}
void Motocontrol::update() // 更新
{
    _moto_dji.update();
    checkmotostatus();
    checkhookstatus();
}
void Motocontrol::direct_speed(float motospeed) // 直接控制电机--测试用
{
    _moto_dji.setspeedtarget(motospeed);
}

moto_measure_t Motocontrol::getmotoinfo()
{
    return _moto_dji.getmotoinfo();
}
control_status_t Motocontrol::getcontrolstatus() // 得到控制信息
{
    return _controlstatus;
}

void Motocontrol::moto_goodsdownresume()
{
    if (!_autogoodsdown) return;
    if (_hooksstatus == HS_Stop)
    {
        _runspeed = _goods_speed;
        if (_hooksstatus_prv == HS_Up)
            _controlstatus.motostatus = MS_Up;
        if (_hooksstatus_prv == HS_InStore)
        {
            _controlstatus.motostatus = MS_Up;
            _runspeed = -SPEED_INSTORE;
        }
        _hooksstatus = _hooksstatus_prv;
        _moto_dji.settime_acc(1000);
        unlockservo(); // 打开舵机
        // _moto_dji.setspeedtarget(_goods_speed);
    }
}
void Motocontrol::moto_goodsdown(float length)
{
    if (length < 0.0)
    {
        printf("length<0 fault\n");
        return;
    }
    // 没设置零点
    if (!_controlstatus.is_setzero)
    {
        printf("not lengthzero fault\n");
        return;
    }
    if (!_weightalign)
    {
        printf("weight not align fault\n");
        return;
    }
    // 没挂东西
    if (!_controlstatus.is_havegoods)
    {
        printf("goods min fault:%d \n", _pullweight);
        return;
    }

    // 开始自动放货物状态
    _autogoodsdown = true;
    // 长度=0，直接中慢速下降，
    if (length == 0.0)

    {
        _goods_down_target_cnt = 0;
        setspeed(SPEED_HOOK_CHECK);
        _goods_speed = SPEED_HOOK_CHECK;
    }
    else
    {
        _goods_down_start_cnt = _moto_dji.getmotoinfo().output_round_cnt;
        _goods_down_target_cnt = _goods_down_start_cnt + length / WHEEL_PERIMETER;
        setspeed(SPEED_HOOK_FAST, TM_ACC_HS);
        _goods_speed = SPEED_HOOK_FAST;
    }
    moto_run(MS_Down);
}

// 按指定速度收放线 放线为+，收线为- 单位cm
void Motocontrol::moto_run(MotoStatus updown, float length)
{
    // 传入要stop，直接停
    if (updown == MS_Stop)
    {
        stop();
        return;
    }

    // 运动中暂时不管
    if ((_controlstatus.motostatus == MS_Down) || (_controlstatus.motostatus == MS_Up))
    {
        printf("motostatus is MS_Down\\MS_Up \n");
        return;
    }
    // 没设置速度不转
    if (_controlstatus.speed_targe == 0)
    {
        printf("not set speed_targe \n");
        return;
    }
    if (updown == MS_Up)
    {
        if (_controlstatus.is_toplocked)
        {
            printf("is_toplocked return\n");
            return;
        }
        if (_controlstatus.is_overweight)
        {
            printf("overweight fault :%d \n", _pullweight);
            return;
        }
        _hooksstatus = HS_Up;
    }
    else
        _hooksstatus = HS_Down;

    unlockservo();

    _controlstatus.motostatus = updown;
    // 有长度限制
    if (length != 0)
    {
        // 收需要负
        if (updown == MotoStatus::MS_Up)
            length = -length;
        // 记录开始位置
        _start_cnt = _moto_dji.getmotoinfo().output_round_cnt;
        _target_cnt = _start_cnt + length / WHEEL_PERIMETER;
        _check_targetlength = true;
    }
    else
        _check_targetlength = false;

    // 记录开始位置
    float runspeed;
    if (updown == MotoStatus::MS_Down)
        runspeed = _controlstatus.speed_targe;
    else
    {
        // 如果没有设置零点，不能快速收线
        if (!_controlstatus.is_setzero)
            _controlstatus.speed_targe = SPEED_BTN_SLOW;
        runspeed = -_controlstatus.speed_targe;
    }
    // 开始转
    printf("run speed:%.0f,tarcnt:%.2f\n", runspeed, _target_cnt);
    _runspeed = runspeed;
    // _moto_dji.setspeedtarget(runspeed);
}