#include "libschsat.h"
#include <stdio.h>
#include <stdint.h>
#include "libschsat.h"
#define LSS_OK 0 
#define LSS_ERROR 1 
#define LSS_BREAK 2
#include <math.h>

const int kd = 200; /*Incremental feedback coefficient. If the satellite’s angular velocity is positive, than satellite must be spun clock-wise (i.e. the flywheel must rotated clock-wise.*/
const int kp = -100; /*Proportional feedback coefficient. If the current angle is more than target angle, than satellite must be spun counter-clock-wise (i.e. the flywheel must rotated counter-clock-wise).*/
const float time_step = 0.05; //working time-step for the positioning and stabilization system 
const int mtr_max_speed = 3000; 		// Maximum allowed flywheel speed, rev/min
const uint16_t mtr_num = 1;			// flywheel number
const uint16_t hyr_num = 1; 		        // angular velocity sensor number
const uint16_t mag_num = 1;			// magnetometer number

const int sun_max = 25000;//Maximum value of the solar sensor (higher values are deemed as errors)
const int sun_min = 50;//Minimum value of the solar sensor (lower values are deemed as errors)
int16_t mtr_new_speed;

int angle_transformation(int alpha, int alpha_goal){
/* To define the steering command for the flywheel it is critical to know not the angular orientation of the satellite as related to magnetic field but the angular error – the difference between the current angle and target angle alpha_goal
By default the angle will be defined in range from -180 to 180 degree angle_transformation function will change the angle measurement range. For the task of positioning the angle must be measured in the range from (alpha_goal-180) to (alpha_goal+180), where alpha_goal is the target angle between magnetometer’s x-axis and projection of magnetic field vector to horizontal plane.
*/
	if (alpha <= (alpha_goal - 180)){
		alpha = alpha + 360;
	}
	else if (alpha>(alpha_goal +180)){
		alpha = alpha - 360;
	}
	return alpha;
}

int motor_new_speed_PD(int mtr_speed,int alpha,int alpha_goal, float omega, int omega_goal){
/* Specifying the flywheel new speed 
flywheel’s new speed equals to flywheel’s current speed + speed increment
Speed increment is proportioned by angle error and angular velocity error
*/
	int mtr_new_speed = mtr_speed + kp*(alpha-alpha_goal) + kd*(omega-omega_goal);
	if (mtr_new_speed > mtr_max_speed){
		mtr_new_speed = mtr_max_speed;
	}
	else if (mtr_new_speed < -mtr_max_speed){
		mtr_new_speed = -mtr_max_speed;
	}
	return mtr_new_speed;
}

void initialize_all(void){/* All systems’ initialization function*/
	printf("Enable motor №%d\n", mtr_num); 
	motor_turn_on(mtr_num);
	Sleep(1);
	printf("Enable angular velocity sensor №%d\n", hyr_num); 
	hyro_turn_on(hyr_num); // Включаем ДУС
	Sleep(1);
	printf("Enable Sun sensors 1-4\n");
	sun_sensor_turn_on(1);
	sun_sensor_turn_on(2);
	sun_sensor_turn_on(3);
	sun_sensor_turn_on(4);
	Sleep(1);
}

void switch_off_all(void){/* All systems’ switching off function*/
	printf("Finishing...\n");
	int16_t new_speed = mtr_new_speed;
	hyro_turn_off(hyr_num); // Выключаем ДУС
	magnetometer_turn_off(mag_num);
	sun_sensor_turn_off(1);
	sun_sensor_turn_off(2);
	sun_sensor_turn_off(3);
	sun_sensor_turn_off(4);
	motor_set_speed(mtr_num, 0, &new_speed);
	Sleep(1);
	motor_turn_off(mtr_num);
	printf("Finish program\n");
}

int check_sun(int sun11, int sun12, int sun21, int sun22, int sun31, int sun32, int sun41, int sun42){ 
	int delta1 = 0;
	int delta2 = 0; 
	int delta3 = 0; 
	int delta4 = 0; 
	int delta5 = 0;
	int delta6 = 0; 
	int delta7 = 0; 
	int delta8 = 0;	
	int delta_sum = 36000;
	int delta_min = 35000;	
	int delta_i = 0; 
	float data_sun[] = {-47.329501295977, 239, 102, -48.1458278265892}; //insert data from text data file
	int i;
	for (i = 0; i < 4; i++){ 				 
		delta1 = abs(sun11 - data_sun[i]);
		delta2 = abs(sun12 - data_sun[i]);
		delta3 = abs(sun21 - data_sun[i]);
		delta4 = abs(sun22 - data_sun[i]);
		delta5 = abs(sun31 - data_sun[i]);
		delta6 = abs(sun32 - data_sun[i]);
		delta7 = abs(sun41 - data_sun[i]);
		delta8 = abs(sun42 - data_sun[i]);
		delta_sum = delta1 + delta2 + delta3 + delta4 + delta5 + delta6 + delta7 + delta8;
		printf("%d, %f\n", i, data_sun[i]);
		printf("Sun_sens: %d, %d, %d, %d, %d, %d, %d, %d\n", sun11, sun12, sun21, sun22, sun31, sun32, sun41, sun42);
		printf("deltas= %d, %d, %d, %d, %d, %d, %d, %d, %d\n", delta1, delta2, delta3, delta4, delta5, delta6, delta7, delta8, delta_sum);		
		if (delta_min > delta_sum) {
			delta_min = delta_sum;
			delta_i = data_sun[i];
			printf("delta_min= %d\n", delta_min);
			printf("delta_i= %d\n", delta_i);
		}
	}
	return delta_i;
}

int sun_range(uint16_t *sun_1, uint16_t *sun_2, uint16_t sun_old_1, uint16_t sun_old_2){ 	
	
	if (*sun_1 > sun_max){
		*sun_1 = sun_old_1;
	}
	
	if (*sun_1 < sun_min){
		*sun_1 = sun_old_1;
	}
	if (*sun_2> sun_max){
		*sun_2 = sun_old_2;
	}
	if (*sun_2 < sun_min){
		*sun_2 = sun_old_2;
	}		
	return 0;
}

int control(){ // Program’s main function
	initialize_all(); // Initialize flywheel status
	int mtr_state = 0;  // Initialize angular velocity sensor status
	int hyro_state = 0;
	//int mag_state = 0; // Initialize magnetometer status
	uint16_t sun_result_1[] = {0,0,0}; // Initialize sun_result_1
	uint16_t sun_result_2[] = {0,0,0}; // Initialize sun_result_2
	uint16_t sun_result_3[] = {0,0,0}; // Initialize sun_result_3
	uint16_t sun_result_4[] = {0,0,0}; // Initialize sun_result_4
	uint16_t sun_result_1_Old[] = {0,0,0}; // Initialize sun_result_1_Old
	uint16_t sun_result_2_Old[] = {0,0,0}; // Initialize sun_result_2_Old
	uint16_t sun_result_3_Old[] = {0,0,0}; // Initialize sun_result_3_Old
	uint16_t sun_result_4_Old[] = {0,0,0}; // Initialize sun_result_4_Old
	int16_t mtr_speed;
	//angular velocity sensor data
	int16_t gx_raw;
	int16_t gy_raw;
	int16_t gz_raw;
	int16_t *hyrox_raw = &gx_raw;
	int16_t *hyroy_raw = &gy_raw;
	int16_t *hyroz_raw = &gz_raw;
	//magnetometer data
	/*int16_t mgx;
	int16_t mgy;
	int16_t mgz;
	int16_t *magx_raw = &mgx;
	int16_t *magy_raw = &mgy; 
	int16_t *magz_raw = &mgz;*/
		
	int16_t omega;
	int omega_goal = 0;		// omega_goal - Target angular velocity
	int alpha_goal = 30;		// Target turning angle
	int i;
	int j;
	for (i = 0; i < 300; i++){
		// Put into memory the old values
		for(j = 0; j < 3; j++){
		sun_result_1_Old[j] = sun_result_1[j];	
		sun_result_2_Old[j] = sun_result_2[j];		
		sun_result_3_Old[j] = sun_result_3[j];		
		sun_result_4_Old[j] = sun_result_4[j];
		}		
		// sensors and flywheel data request
		sun_result_1[0] = sun_sensor_request_raw(1,&sun_result_1[1],&sun_result_1[2]);
		sun_result_2[0] = sun_sensor_request_raw(2,&sun_result_2[1],&sun_result_2[2]);			
		sun_result_3[0] = sun_sensor_request_raw(3,&sun_result_3[1],&sun_result_3[2]);
		sun_result_4[0] = sun_sensor_request_raw(4,&sun_result_4[1],&sun_result_4[2]);
		//print sun_result_1, sun_result_2, sun_result_3, sun_result_4
		// Checking the new measured value for going out of range 
		sun_result_1[0] = sun_range( & sun_result_1[1], & sun_result_1[2], sun_result_1_Old[1], sun_result_1_Old[2]);
		sun_result_2[0] = sun_range( & sun_result_2[1], & sun_result_2[2], sun_result_2_Old[1], sun_result_2_Old[2]);
		sun_result_3[0] = sun_range( & sun_result_3[1], & sun_result_3[2], sun_result_3_Old[1], sun_result_3_Old[2]);
		sun_result_4[0] = sun_range( & sun_result_4[1], & sun_result_4[2], sun_result_4_Old[1], sun_result_4_Old[2]);
		int alpha_sun = check_sun(sun_result_1[1], sun_result_1[2], sun_result_2[1], sun_result_2[2], sun_result_3[1], sun_result_3[2], sun_result_4[1], sun_result_4[2]);
		alpha_sun = angle_transformation(alpha_sun, alpha_goal);
		printf("alpha_sun = %d\n",alpha_sun);
		
		hyro_state = hyro_request_raw(hyr_num,hyrox_raw,hyroy_raw,hyroz_raw); 
		gx_raw = *hyrox_raw; 
		gy_raw = *hyroy_raw; 
		gz_raw = *hyroz_raw; 
		mtr_state = motor_request_speed(mtr_num, &mtr_speed);
		//mag_state = magnetometer_request_raw(mag_num, magx_raw, magy_raw, magz_raw);
		mtr_speed = motor_request_speed(mtr_num, &mtr_speed);
		
		
		if (!hyro_state){ // if angular velocity sensor returned error code 0 (no error)
			float gx_degs = gx_raw * 0.00875;
			float gy_degs = gy_raw * 0.00875;
			float gz_degs = gz_raw * 0.00875;
			omega = (int16_t)gz_degs;	// if the angular velocity sensor sensor arranged via z-axis up, then satellite’s angular velocity matches to sensors’ readings of z-axis
			printf("gx_degs = %f, gy_degs = %f, gz_degs = %f\n", gx_degs, gy_degs, gz_degs); // Data output
		}
		else if (hyro_state == 1){ // if the sensor returned error code 1
			printf("Fail because of access error, check the connection");
		}
		else if (hyro_state == 2){ // if the sensor returned error code 2
			printf("Fail because of interface error, check your code");
		}

		if (!mtr_state)	{ // if the flywheel returned error code 0 (no error)
			int16_t mtr_speed = 0;
			motor_request_speed(mtr_num, &mtr_speed);
			printf("Motor_speed: %d\n", mtr_speed);	
			// set the flywheel’s new speed 
			mtr_new_speed = motor_new_speed_PD(mtr_speed,alpha_sun, alpha_goal,omega,omega_goal );
			motor_set_speed(mtr_num, mtr_new_speed, &omega);
		}	
		
		Sleep(time_step);
	}
	switch_off_all();
	return 0;
}