/*
 * Copyright (c) 2014, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

#include "TurnAngleCommand.h"
#include "ZumoMotors.h"
#include "IMUManager.h"

TurnAngleCommand::TurnAngleCommand(float angle, float timeout)
{
    _angle = angle;
    spinController = PIDController((float) 6.5, (float) 0.001, (float) 0.0);
    numSeconds = timeout;
    initialized = false;
    targetAngleSet = false;
    atAngle = false;
}

void TurnAngleCommand::run(Utilities::MotorInfo &info)
{
    float error;
    float power;
    if (!targetAngleSet) {
        float currHeading = IMUManager::getGyroYaw();
        targetAngle = Utilities::wrapAngle(currHeading + _angle);
        targetAngleSet = true;
        atAngle = false;
    }
    else {
        error = Utilities::wrapAngle(IMUManager::getGyroYaw() - targetAngle);
        power = spinController.calculate(fabs(error));
        bool done = Utilities::inRange(fabs(error), (float) -10.0,
                (float) 10.0);
        if (done) {
            atAngle = true;
        }
        if (atAngle) {
            power = 0;
        }
        if (fabs(power) < 10) {
            power = 0;
        }
        power = Utilities::clip(power);
        /* Note: this is used because powers higher than 250 result
         * in a buildup of error in the integrated gyro angle
         */
        if (power > 250) {
            power = 250;
        }
        if (error > 0) {
            ZumoMotors::setLeftSpeed(power);
            ZumoMotors::setRightSpeed(-power);
        }
        else {
            ZumoMotors::setLeftSpeed(-power);
            ZumoMotors::setRightSpeed(power);
        }
        info.error = error;
        info.leftSpeed = power;
        info.rightSpeed = -power;
        info.time = (float) millis();
    }
    timedOut = ((millis() - initTime) > ((int) (numSeconds * (float) 1000.0)));
}

void TurnAngleCommand::initialize()
{
    initTime = millis();
    initialized = true;
    timedOut = false;
    atAngle = false;
    targetAngleSet = false;
}

void TurnAngleCommand::end()
{
    ZumoMotors::setLeftSpeed((int) 0);
    ZumoMotors::setRightSpeed(0);
    timedOut = true;
    initialized = false;
}

bool TurnAngleCommand::isFinished()
{
    return timedOut || atAngle;
}

bool TurnAngleCommand::hasBeenInitialized()
{
    return initialized;
}

bool TurnAngleCommand::isTimedOut()
{
    return timedOut;
}