#include "header.h"
#include "global.h"
#include "sgn.h"
#include <error.h>
#include <errno.h>
#include <math.h>

#include "SvrData.h"

void printMat(Mat4f M)
{
    cout << M << endl;
}

float* abctomat(float a, float b, float c)
{
    Mat4f rx;
    float ca = cos(c);
    float sa = sin(c);

    rx(0,0) = 1;
    rx(1,1) = ca; 
    rx(1,2) = -sa;
    rx(2,1) = sa; 
    rx(2,2) = ca; 
    rx(3,3) = 1;

    Mat4f ry;
    float cb = cos(b);
    float sb = sin(b);
    ry(0,0) = cb;
    ry(0,2) = sb;
    ry(1,1) = 1;
    ry(2,0) = -sb;
    ry(2,2) = cb; 
    ry(3,3) = 1;

    Mat4f rz;
    float cc = cos(a);
    float sc = sin(a);
    rz(0,0) = cc;
    rz(0,1) = -sc;
    rz(1,0) = sc;
    rz(1,1) = cc;
    rz(2,2) = 1; 
    rz(3,3) = 1;

    
    Mat4f result;
    Mat4f temp;
    temp   = rz * ry;
    result = temp * rx;

#ifdef __DEBUG__
    printMat(rx);
    printMat(ry);
    printMat(rz);
    printMat(result);
#endif

    float *res = new float[12];
    //TODO simple converter for mat
    for (int j=0;j<3;j++)
    {
        for (int k=0;k<4;k++)
        {
            res[j*4+k] = result(j,k);
        }
    }
    return res;
}

float* mattoabc(float M[12])
{
    float norm;
    float sa;
    float ca;
    float *abc = new float[3];

    norm = sqrt((M[0]*M[0])+(M[4]*M[4]));

    if (norm>1e-5)
    {
        sa = M[4]/norm;
        ca = M[0]/norm;
        abc[0]  = atan2(sa,ca);
    }
    else 
    {
        sa = 0;
        ca = 1;
        abc[0] = 0;
    }
    abc[1] = atan2(-M[8],ca*M[0]+sa*M[4]);
    abc[2] = atan2(sa*M[2]-ca*M[6],-sa*M[1]+ca*M[5]);
    return abc;
}

void doRalf() 
{
    // Global definitions
    float lowStiff[6]  = {  0.01f,   0.01f,   0.01f,  0.01f,  0.01f,  0.01f};
    float highStiff[6] = {1000.0f, 1000.0f, 1000.0f,  10.0f,  10.0f,  10.0f};
    float slowDamp[6]  = { 0.007f,  0.007f,  0.007f, 0.007f, 0.007f, 0.007f};
    float fastDamp[6]  = {   0.7f,    0.7f,    0.7f,   0.7f,   0.7f,   0.7f};

    float pos1[12] = {
                        1.0f, 0.0f, 0.0f, 500.0f,
                        0.0f, 1.0f, 0.0f,   0.0f,
                        0.0f, 0.0f, 1.0f, 500.0f
                     };
    float pos2[12] = {
                        1.0f, 0.0f, 0.0f , 500.0f,
                        0.0f, 1.0f, 0.0f ,   0.0f,
                        0.0f, 0.0f ,1.0f , 500.0f
                     };

    friRemote friInst;
    double timeCounter=0;
    friInst.doDataExchange();

    float* cartPos;
    while(true)
    {
        // Time
        timeCounter+=friInst.getSampleTime();

        friInst.doReceiveData();

        // Get all variables from FRI
        float* jntPos = friInst.getMsrMsrJntPosition();
        float* jacobian = friInst.getJacobian();
        float* ftTcp = friInst.getFTTcp();

        if (timeCounter < 20)
            cartPos = friInst.getMsrCartPosition();
        //friInst.doDataExchange();
        //friInst.doCartesianImpedanceControl(cartPos, highStiff, fastDamp, NULL, NULL, true);
#if 0
        if (timeCounter>10 && timeCounter<10) 
        {
            friInst.doCartesianImpedanceControl(cartPos, highStiff, fastDamp, NULL, NULL, false);
        } else 
        {
            friInst.doCartesianImpedanceControl(cartPos, highStiff, fastDamp, NULL, NULL, false);
        }
#endif
        float npos[12];
        memcpy(npos,cartPos,12);
        friInst.doCartesianImpedanceControl(npos, highStiff, fastDamp, NULL, NULL, false);
        
#if 0
        if (timeCounter<20) 
        {
            friInst.doCartesianImpedanceControl(Test, highStiff, fastDamp, NULL, NULL, true);
        } else if (timeCounter<30) 
        {
            friInst.doCartesianImpedanceControl(cartPos, highStiff, fastDamp, NULL, NULL, true);
        } else if (timeCounter<40) 
        {
            friInst.doCartesianImpedanceControl(cartPos , highStiff, fastDamp, NULL, NULL, true);
        } else 
        {
            friInst.doDataExchange();
        }
#endif
        friInst.doSendData();
    }
}

Mat4f vecToMat2(float vec[12])
{
    Mat4f result;
    for (int i=0; i<3; i++)
    {
        for (int j=0; j<4; j++)
        {
            result(i,j) = (float)vec[i*4+j];
        }
    }
    result(3,3)=(float)1;
    return result;
}

float* matToVec2(Mat4f mat)
{
    float* vec = new float[12];
    for (int j=0;j<3;j++)
    {
        for (int k=0;k<4;k++)
        {
            vec[j*4+k] = mat(j,k);
        }
    }
    return vec;
}

float* vectoquat(float vec[12])
{
    float *quat = new float[4];
    float diag[3];
    int v; int w; int u;
    diag[0] = vec[0];
    diag[1] = vec[5];
    diag[2] = vec[10];
    float u_ = *std::max_element(diag,diag+2);

    if (u_==diag[0])
    {
        u = 1;
        v = 2;
        w = 3;
    } else if (u_==diag[1])
    {
        u = 2;
        v = 3;
        w = 1;
    } else
    {
        u = 3;
        v = 1;
        w = 2;
    }
    float r = sqrt(1+vec[(u-1)*4+(u-1)] - vec[(v-1)*4+(v-1)] - vec[(w-1)*4+(w-1)]);
    quat[0] = (vec[(w-1)*4+(v-1)] - vec[(v-1)*4+(w-1)]) / (2*r);
    quat[u] = r/2;
    quat[v] = (vec[(u-1)*4+(v-1)] + vec[(v-1)*4+(u-1)]) / (2*r);
    quat[w] = (vec[(w-1)*4+(u-1)] + vec[(u-1)*4+(w-1)]) / (2*r);

    return quat;
}

float* quattovec(float quat[4])
{
    float *vec = new float[12];
    vec[0] = quat[0]*quat[0]+quat[1]*quat[1]-quat[2]*quat[2]-quat[3]*quat[3];
    vec[4] = 2*(quat[1]*quat[2]+quat[0]*quat[3]);
    vec[8] = 2*(quat[1]*quat[3]-quat[0]*quat[2]);
    
    vec[1] = 2*(quat[1]*quat[2]-quat[0]*quat[3]);
    vec[5] = quat[0]*quat[0]-quat[1]*quat[1]+quat[2]*quat[2]-quat[3]*quat[3];
    vec[9] = 2*(quat[2]*quat[3]+quat[0]*quat[1]);
    
    vec[2] = 2*(quat[1]*quat[3]+quat[0]*quat[2]);
    vec[6] = 2*(quat[2]*quat[3]-quat[0]*quat[1]);
    vec[10] = quat[0]*quat[0]-quat[1]*quat[1]-quat[2]*quat[2]+quat[3]*quat[3];

    return vec;
}


void *threadFriDataExchange(void *arg)
{
    // unused 
    (void) arg;

    //doRalf();

    friRemote friInst;

    while (1)
    {
        //#######################################
        // Communication loop

        // get current joint positions
        for ( int i= 0; i < LBR_MNJ; i++)
        {
            MSRMSRJNTPOS[i] = friInst.getMsrCmdJntPosition()[i] + friInst.getMsrCmdJntPositionOffset()[i];
            //MSRMSRJNTPOS[i] = friInst.getMsrMsrJntPosition()[i];
        }

        // get current jacobian
        float* friJacobian = friInst.getJacobian();
        if ( friJacobian == NULL)
        {
            fprintf(stderr,"Failed: could not get jacobian\n");
            break;
        }
        for (int i = 0; i < FRI_CART_VEC*LBR_MNJ ; i++)
        {
            MSRMSRJACOBIAN[i] = friJacobian[i];
        }

        // get current messured carthesian position
        float* friMsrCartPosition = friInst.getMsrCartPosition();
        if ( friMsrCartPosition == NULL)
        {
            fprintf(stderr,"Failed: could not get Messurement in Carthesian Position\n");
            break;
        }
        for ( int i =0; i < FRI_CART_FRM_DIM; i++)
        {
            MSRMSRCARTPOS[i] = friMsrCartPosition[i];
        }

        // get current force and torque
        float* friFTTcp =  friInst.getFTTcp();
        for ( int i = 0; i < FRI_CART_VEC; i++)
        {
            MSRMSRFTTCP[i] = friFTTcp[i];
        }

        //#########################################################
        // PTP Joint Movement
        if (__MSRCMDJNTPOS)
        {
            double maxVelJntLocal[LBR_MNJ];
            double maxAccJntLocal[LBR_MNJ];
            double delta[LBR_MNJ];
            double sampleTime = (double)0.005;
            double deltaAbs[LBR_MNJ];
            double dMaxSpeed[LBR_MNJ];
            double lMaxSpeed[LBR_MNJ];
            double dGesamt[LBR_MNJ];
            
            double currentInk[LBR_MNJ] = {0};
            double currentInkLast[LBR_MNJ] = {0};
            double currentDist [LBR_MNJ] = {0};
            double currentDistLast [LBR_MNJ] = {0};

            Vec<float,LBR_MNJ> maxVelocity = SvrData::getInstance()->getMaxVelocity();
            Vec<float,LBR_MNJ> maxAccelaration = SvrData::getInstance()->getMaxAcceleration();

            // calculate delta positions of movement
            for ( int i= 0; i < LBR_MNJ; i++)
            {
                delta[i] = MSRCMDJNTPOS[i]-(MSRMSRJNTPOS[i]*180/M_PI);
                deltaAbs[i] = fabs(MSRCMDJNTPOS[i]-(MSRMSRJNTPOS[i]*180/M_PI));
                maxVelJntLocal[i] = maxVelJnt[i]*sampleTime*(VELOCITY/100.0);
                maxAccJntLocal[i] = maxAccJnt[i]*sampleTime*(ACCELARATION/100.0);
            }
            
            // calculate movement steps
            for (int j=0; j<LBR_MNJ; j++)
            {
                dMaxSpeed[j] = maxVelJntLocal[j]/maxAccJntLocal[j];
                lMaxSpeed[j] = dMaxSpeed[j]*dMaxSpeed[j]*maxAccJntLocal[j]*0.5;
                if (lMaxSpeed[j] > deltaAbs[j]/(double)2.0)
                {
                    dGesamt[j] = sqrt(deltaAbs[j]/maxAccJntLocal[j])*2.0;
                } else 
                {
                    dGesamt[j] = dMaxSpeed[j]*2 + (deltaAbs[j]-lMaxSpeed[j]*2.0)/maxVelJntLocal[j];
                }
            }
            int maxSteps =ceil(*max_element(dGesamt,(dGesamt+LBR_MNJ-1)));

            if (maxSteps == 0 || maxSteps == 1)
                goto end;

            for (int j=0; j<LBR_MNJ; j++)
            {
                dMaxSpeed[j] = ceil(maxSteps/(double)2 - sqrt((maxSteps/(double)2)*(maxSteps/(double)2) - deltaAbs[j]/maxAccJntLocal[j]));
                double temp = maxSteps/(double)2 - sqrt((maxSteps/(double)2)*(maxSteps/(double)2) - deltaAbs[j]/maxAccJntLocal[j]);             
                if (dMaxSpeed[j]==0)
                {
                    maxAccJntLocal[j] = 0;
                } else
                {
                    maxAccJntLocal[j] = -deltaAbs[j]/(dMaxSpeed[j]*dMaxSpeed[j]-maxSteps*dMaxSpeed[j]);
                }
                maxVelJntLocal[j] = dMaxSpeed[j]*maxAccJntLocal[j];
            }


            for (int i=0;i<maxSteps;i++)
            {
                for (int j=0;j<LBR_MNJ;j++)
                {
                    if (i+1 <= maxSteps/(double)2)
                    {
                        currentInk[j] = min(currentInkLast[j]+maxAccJntLocal[j],maxVelJntLocal[j]);
                    }else if (i+1 > maxSteps-dMaxSpeed[j])
                    {
                        currentInk[j] = max(currentInkLast[j]-maxAccJntLocal[j],(double)0);
                    }else
                    {
                        currentInk[j] = currentInkLast[j];
                    }
                    currentDist[j] = currentDistLast[j] + sgn(delta[j])*currentInk[j];
                    currentInkLast[j] = currentInk[j];
                    currentDistLast[j] = currentDist[j];
                    MSRMSRJNTPOS[j]+= sgn(delta[j])*currentInk[j]*(1./180*M_PI);
                }
                friInst.doPositionControl(MSRMSRJNTPOS);
            }
end:
            __MSRCMDJNTPOS = false;

        } else if (__CARTMOVE)
        {
            //##########################################################
            //Cartesian Movement

            const float Stiff[6] = {1000.0, 1000.0, 1000.0, 150.0, 150.0, 150.0};
            const float Damp[6] = {0.7, 0.7, 0.7, 0.7, 0.7, 0.7};
            float th = 0.000;
            float deltaCart[12];
            float Pos[12];
            float dist;
            float rot;
            float sum;
            float b;
            float c;
            float t_fact = 1;
            float t_outerT = 0.007;
            float t_innerT = 0.000;
            float t_outerR = 0.007;
            float t_innerR = 0.000;

            while (true)
            {
                for ( int i =0; i < FRI_CART_FRM_DIM; i++)
                {
                    Pos[i] = friInst.getMsrCartPosition()[i];
                    MSRMSRCARTPOS[i] = friInst.getMsrCartPosition()[i];
                    deltaCart[i] = MSRCMDCARTPOS[i]-Pos[i];
                }
                sum = 0;
                for (int i=0; i<3 ; i++)
                {
                    sum = sum + (deltaCart[(i*4)+3]*deltaCart[(i*4)+3]);
                }
                dist = sqrt(sum);
                sum = 0;
                for (int i=0;i<12;i++)
                {
                    if (i != 3 && i != 7 && i != 11)
                    {
                        sum = sum + deltaCart[i]*deltaCart[i];
                    }
                }
                rot = sqrt(sum);
                b = t_fact*max((float)0.0,(float)min((float)1.0,(t_outerT-dist+(t_innerT-t_outerT))*(1/(t_innerT-t_outerT))));
                c = t_fact*max((float)0.0,(float)min((float)1.0,(float)(t_outerR-rot+(t_innerR-t_outerR))*(float)(1/(t_innerR-t_outerR))));

                if (dist < th)
                {
                    for (int i=0; i<3; i++)
                    {
                        deltaCart[(i*4)+3] = 0;
                    }
                }else 
                {
                    for (int i=0; i<3; i++)
                    {
                        deltaCart[(i*4)+3] = (deltaCart[(i*4)+3] / dist)*b;
                    }
                }

                // check offset to point 
                if (rot < th)
                {
                    for (int i=0;i<12;i++)
                    {
                        if (i != 3 && i != 7 && i != 11)
                        {
                            deltaCart[i] = 0;
                        }
                    }
                }else 
                {
                    for (int i=0;i<12;i++)
                    {
                        if (i != 3 && i != 7 && i != 11)
                        {
                            deltaCart[i] = (deltaCart[i] / rot)*c;
                        }
                    }
                }
                for (int i=0;i<12;i++)
                {
                    Pos[i]+= deltaCart[i]*0.02;
                }
                friInst.doCartesianImpedanceControl(Pos, Stiff,Damp,NULL,NULL, true);

            }
        } 
        //float Stiff[6] = {1000.0, 1000.0, 1000.0, 10.0, 10.0, 10.0};
        //float Damp[6] = {0.7, 0.7, 0.7, 0.7, 0.7, 0.7};
        //float Test[12] = {MSRMSRCARTPOS[0],MSRMSRCARTPOS[1],MSRMSRCARTPOS[2],MSRMSRCARTPOS[3],MSRMSRCARTPOS[4],MSRMSRCARTPOS[5],MSRMSRCARTPOS[6],MSRMSRCARTPOS[7],MSRMSRCARTPOS[8],MSRMSRCARTPOS[9],MSRMSRCARTPOS[10],MSRMSRCARTPOS[11]};
        //friInst.doCartesianImpedanceControl(Test,Stiff, Damp, NULL, NULL, true);

        // innerhlab 5ms
        friInst.doPositionControl(MSRMSRJNTPOS);

        //i = 0;
        //}
        //friInst.doCartesianImpedanceControl(Test,Stiff, Damp, NULL, NULL, true);
    }
    return NULL;
}

int main()
{
    int err = 0;
    //Setting pthread for FRI interface
    pthread_t fri_t;
    //Start fri_thread
    err = pthread_create(&fri_t,NULL,&threadFriDataExchange,NULL);
    if (err > 0 )
    {
        cerr << "Failed: could not create thread\n" << endl;
        return err;
    }


    //Start client handling
    SvrHandling *svr = new SvrHandling();
    if (svr == NULL)
    {
        cerr << "Failed: could not create server \n" << endl;
        return -ENOMEM;
    }
    svr->run();

    return 0;
}