#include "DifferentialDrive.h"
#include "LinearAlgebra/Angle.h"
#include "LinearAlgebra/FloatSingle.h"

#include <math.h>

DifferentialDrive::DifferentialDrive() {};

DifferentialDrive::DifferentialDrive(Motor* leftMotor, Motor* rightMotor) {
  this->motorCount = 2;
  this->motors = new Motor*[2];
  this->motors[0] = leftMotor;
  this->motors[1] = rightMotor;

  float distance = this->wheelSeparation / 2;
  leftMotor->direction = Motor::Direction::CounterClockwise;
  leftMotor->position.horizontal = Angle16::Degrees(-90);
  leftMotor->position.distance = distance;
  rightMotor->direction = Motor::Direction::Clockwise;
  rightMotor->position.horizontal = Angle16::Degrees(90);
  rightMotor->position.distance = distance;
}

void DifferentialDrive::SetDimensions(float wheelDiameter,
                                      float wheelSeparation) {
  this->wheelDiameter = wheelDiameter;
  this->wheelSeparation = wheelSeparation;
  this->rpsToMs = wheelDiameter * Passer::LinearAlgebra::pi;

  float distance = this->wheelSeparation / 2;
  this->motors[0]->position.distance = distance;
  this->motors[1]->position.distance = distance;
}

void DifferentialDrive::SetMotorTargetSpeeds(float leftSpeed,
                                             float rightSpeed) {
  for (unsigned int motorIx = 0; motorIx < this->motorCount; motorIx++) {
    Motor* motor = motors[motorIx];
    if (motor == nullptr)
      continue;

    float xPosition = motors[motorIx]->position.horizontal.InDegrees();
    if (xPosition < 0)
      motor->SetTargetSpeed(leftSpeed);
    else if (xPosition > 0)
      motor->SetTargetSpeed(rightSpeed);
  };
}

void DifferentialDrive::SetTwistSpeed(float forward, float yaw) {
  float leftSpeed =
      Float::Clamp(forward + yaw, -1, 1);  // revolutions per second
  float rightSpeed =
      Float::Clamp(forward - yaw, -1, 1);  // revolutions per second

  float leftMotorSpeed = leftSpeed / rpsToMs;    // meters per second
  float rightMotorSpeed = rightSpeed / rpsToMs;  // meters per second

  SetMotorTargetSpeeds(leftMotorSpeed, rightMotorSpeed);
}

void DifferentialDrive::SetTwistSpeed(Vector2 linear, float yaw) {
  SetTwistSpeed(linear.y, yaw);
}

void DifferentialDrive::SetTwistSpeed(Vector3 linear,
                                      float yaw,
                                      float pitch,
                                      float roll) {
  SetTwistSpeed(linear.Forward(), yaw);
}

void DifferentialDrive::SetVelocity(Polar velocity) {
  SetTwistSpeed(velocity.distance, velocity.angle.InDegrees());
}

Polar DifferentialDrive::GetVelocity() {
  Motor* leftMotor = motors[0];
  Motor* rightMotor = motors[1];
  float leftSpeed = leftMotor->GetActualSpeed();    // in revolutions per second
  float rightSpeed = rightMotor->GetActualSpeed();  // in revolutions per second

  leftSpeed = leftSpeed * rpsToMs;    // in meters per second
  rightSpeed = rightSpeed * rpsToMs;  // in meters per second
  float speed = (leftSpeed + rightSpeed) / 2;

  float direction = speed >= 0 ? 0.0F : 180.0F;
  float magnitude = fabsf(speed);
  Polar velocity = Polar(
      magnitude, Angle::Degrees(direction));  // Polar(direction, magnitude);
  return velocity;
}

float DifferentialDrive::GetAngularVelocity() {
  Motor* leftMotor = motors[0];
  Motor* rightMotor = motors[1];
  float leftSpeed = leftMotor->GetActualSpeed();    // in revolutions per second
  float rightSpeed = rightMotor->GetActualSpeed();  // in revolutions per second

  leftSpeed = leftSpeed * rpsToMs;    // in meters per second
  rightSpeed = rightSpeed * rpsToMs;  // in meters per second

  float angularSpeed = (leftSpeed - rightSpeed) / 2;
  float angularDistance = wheelSeparation / 2 * Passer::LinearAlgebra::pi;
  float rotationsPerSecond = angularSpeed / angularDistance;
  float degreesPerSecond =
      Angle::Normalize(Angle::Degrees(360 * rotationsPerSecond)).InDegrees();
  float angularVelocity = degreesPerSecond;

  return angularVelocity;
}