#include "Detumble.h"

#include <fsfw/globalfunctions/constants.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/globalfunctions/sign.h>
#include <math.h>

#include "../util/MathOperations.h"

Detumble::Detumble() {}

Detumble::~Detumble() {}

ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool magRateValid,
                                const double *magField, const bool magFieldValid, double *magMom,
                                double gain) {
  if (!magRateValid || !magFieldValid) {
    return DETUMBLE_NO_SENSORDATA;
  }
  // convert uT to T
  double magFieldT[3], magRateT[3];
  VectorOperations<double>::mulScalar(magField, 1e-6, magFieldT, 3);
  VectorOperations<double>::mulScalar(magRate, 1e-6, magRateT, 3);
  // control law
  double factor = -gain / pow(VectorOperations<double>::norm(magFieldT, 3), 2);
  VectorOperations<double>::mulScalar(magRateT, factor, magMom, 3);
  return returnvalue::OK;
}

ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool magRateValid, double *magMom,
                                    double dipolMax) {
  if (!magRateValid) {
    return DETUMBLE_NO_SENSORDATA;
  }

  for (int i = 0; i < 3; i++) {
    magMom[i] = -dipolMax * sign(magRate[i]);
  }

  return returnvalue::OK;
}

ReturnValue_t Detumble::bDotLawFull(const double *satRate, const bool *satRateValid,
                                    const double *magField, const bool *magFieldValid,
                                    double *magMom, double gain) {
  if (!satRateValid || !magFieldValid) {
    return DETUMBLE_NO_SENSORDATA;
  }
  // convert uT to T
  double magFieldT[3];
  VectorOperations<double>::mulScalar(magField, 1e-6, magFieldT, 3);
  // control law
  double factor = gain / pow(VectorOperations<double>::norm(magField, 3), 2);
  double magFieldNormed[3] = {0, 0, 0}, crossProduct[3] = {0, 0, 0};
  VectorOperations<double>::normalize(magFieldT, magFieldNormed, 3);
  VectorOperations<double>::cross(satRate, magFieldNormed, crossProduct);
  VectorOperations<double>::mulScalar(crossProduct, factor, magMom, 3);
  return returnvalue::OK;
}