#include "SafeCtrl.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"

SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }

SafeCtrl::~SafeCtrl() {}

ReturnValue_t SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const ReturnValue_t mekfValid,
                                         const bool satRotRateValid, const bool sunDirValid) {
  if (not magFieldValid) {
    return SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
  } else if (mekfValid) {
    return SAFECTRL_USE_MEKF;
  } else if (satRotRateValid and sunDirValid) {
    return SAFECTRL_USE_NONMEKF;
  } else if (satRotRateValid and not sunDirValid) {
    return SAFECTRL_USE_DAMPING;
  } else {
    return SAFECTRL_NO_SENSORS_FOR_CONTROL;
  }
}

ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
                                 double *magFieldModel, bool magFieldModelValid,
                                 double *sunDirModel, bool sunDirModelValid, double *satRateMekf,
                                 bool rateMekfValid, double *sunDirRef, double *satRatRef,
                                 double *outputAngle, double *outputMagMomB) {
  if (!quatBJValid || !magFieldModelValid || !sunDirModelValid || !rateMekfValid) {
    return SAFECTRL_MEKF_INPUT_INVALID;
  }

  double kRate = acsParameters->safeModeControllerParameters.k_rate_mekf;
  double kAlign = acsParameters->safeModeControllerParameters.k_align_mekf;

  //	Calc sunDirB ,magFieldB with mekf output and model
  double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  MathOperations<double>::dcmFromQuat(quatBJ, *dcmBJ);
  double sunDirB[3] = {0, 0, 0}, magFieldB[3] = {0, 0, 0};
  MatrixOperations<double>::multiply(*dcmBJ, sunDirModel, sunDirB, 3, 3, 1);
  MatrixOperations<double>::multiply(*dcmBJ, magFieldModel, magFieldB, 3, 3, 1);

  // change unit from uT to T
  VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldB, 3);

  double crossSun[3] = {0, 0, 0};
  VectorOperations<double>::cross(sunDirRef, sunDirB, crossSun);
  double normCrossSun = VectorOperations<double>::norm(crossSun, 3);

  //	calc angle alpha between sunDirRef and sunDIr
  double dotSun = VectorOperations<double>::dot(sunDirRef, sunDirB);
  double alpha = acos(dotSun);

  //	Law Torque calculations
  double torqueCmd[3] = {0, 0, 0}, torqueAlign[3] = {0, 0, 0}, torqueRate[3] = {0, 0, 0},
         torqueAll[3] = {0, 0, 0};

  double scalarFac = kAlign * alpha / normCrossSun;
  VectorOperations<double>::mulScalar(crossSun, scalarFac, torqueAlign, 3);

  double rateSafeMode[3] = {0, 0, 0};
  VectorOperations<double>::subtract(satRateMekf, satRatRef, rateSafeMode, 3);
  VectorOperations<double>::mulScalar(rateSafeMode, -kRate, torqueRate, 3);

  VectorOperations<double>::add(torqueRate, torqueAlign, torqueAll, 3);
  //	Adding factor of inertia for axes
  MatrixOperations<double>::multiplyScalar(*(acsParameters->inertiaEIVE.inertiaMatrix), 10,
                                           *gainMatrixInertia, 3,
                                           3);  // why only for mekf one and not for no mekf
  MatrixOperations<double>::multiply(*gainMatrixInertia, torqueAll, torqueCmd, 3, 3, 1);

  // MagMom B (orthogonal torque)
  double torqueMgt[3] = {0, 0, 0};
  VectorOperations<double>::cross(magFieldB, torqueCmd, torqueMgt);
  double normMag = VectorOperations<double>::norm(magFieldB, 3);
  VectorOperations<double>::mulScalar(torqueMgt, 1 / pow(normMag, 2), outputMagMomB, 3);

  *outputAngle = alpha;
  return returnvalue::OK;
}

void SafeCtrl::safeNoMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirB,
                          const double *sunDirRefB, const double *satRotRateRefB, double *magMomB,
                          double &errorAngle) {
  // convert magFieldB from uT to T
  double magFieldBT[3] = {0, 0, 0};
  VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);

  // calculate angle alpha between sunDirRef and sunDir
  double dotSun = VectorOperations<double>::dot(sunDirRefB, sunDirB);
  errorAngle = acos(dotSun);

  // split rotational rate into parallel and orthogonal parts
  double satRotRateParallelB[3] = {0, 0, 0}, satRotRateOrthogonalB[3] = {0, 0, 0};
  double parallelLength = VectorOperations<double>::dot(satRotRateB, sunDirB) *
                          pow(VectorOperations<double>::norm(sunDirB, 3), -2);
  VectorOperations<double>::mulScalar(sunDirB, parallelLength, satRotRateParallelB, 3);
  VectorOperations<double>::subtract(satRotRateB, satRotRateParallelB, satRotRateOrthogonalB, 3);

  // calculate torque for parallel rotational rate
  double cmdParallel[3] = {0, 0, 0};
  if (errorAngle < (double)acsParameters->safeModeControllerParameters.angleStartSpin) {
    VectorOperations<double>::subtract(satRotRateRefB, satRotRateParallelB, cmdParallel, 3);
    VectorOperations<double>::mulScalar(
        cmdParallel, acsParameters->safeModeControllerParameters.k_parallel_mekf, cmdParallel, 3);
  }

  // calculate torque for orthogonal rotational rate
  double cmdOrtho[3] = {0, 0, 0};
  VectorOperations<double>::mulScalar(satRotRateOrthogonalB,
                                      -acsParameters->safeModeControllerParameters.k_ortho_mekf,
                                      cmdOrtho, 3);

  // calculate torque for alignment
  double cmdAlign[3] = {0, 0, 0}, crossAlign[3] = {0, 0, 0},
         alignFactor[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  MatrixOperations<double>::multiplyScalar(*acsParameters->inertiaEIVE.inertiaMatrix,
                                           acsParameters->safeModeControllerParameters.k_align_mekf,
                                           *alignFactor, 3, 3);
  VectorOperations<double>::cross(sunDirRefB, sunDirB, crossAlign);
  MatrixOperations<double>::multiply(*alignFactor, *crossAlign, *cmdAlign, 3, 3, 1);

  // sum of all torques
  double cmdTorque[3] = {0, 0, 0};
  for (uint8_t i = 0; i < 3; i++) {
    cmdTorque[i] = cmdAlign[i] + cmdOrtho[i] + cmdParallel[i];
  }

  // MagMom B (orthogonal torque)
  double torqueMgt[3] = {0, 0, 0};
  VectorOperations<double>::cross(magFieldBT, cmdTorque, torqueMgt);
  double normMag = VectorOperations<double>::norm(magFieldB, 3);
  VectorOperations<double>::mulScalar(torqueMgt, pow(normMag, -2), magMomB, 3);
}