/*
 * SensorProcessing.cpp
 *
 *  Created on: 7 Mar 2022
 *      Author: Robin Marquardt
 */

#include "SensorProcessing.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/timevalOperations.h>
#include <util/MathOperations.h>
#include <Igrf13Model.h>
#include <math.h>

using namespace Math;
// Thought: Maybe separate file for transforming of sensor values
// into geometry frame and body frame

SensorProcessing::SensorProcessing(AcsParameters *acsParameters_) :
		savedMagFieldEst { 0, 0, 0 }{
	validMagField = false;
	validGcLatitude = false;
}

SensorProcessing::~SensorProcessing() {
}

bool SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid,
		const float *mgm1Value, bool mgm1valid, const float *mgm2Value,
		bool mgm2valid, const float *mgm3Value, bool mgm3valid,
		const float *mgm4Value, bool mgm4valid, timeval timeOfMgmMeasurement,
		const AcsParameters::MgmHandlingParameters *mgmParameters,
		const double gpsLatitude, const double gpsLongitude,
		const double gpsAltitude, bool gpsValid, double *magFieldEst, bool *outputValid,
		double *magFieldModel, bool*magFieldModelValid,
		double *magneticFieldVectorDerivative, bool *magneticFieldVectorDerivativeValid) {

	if (!mgm0valid && !mgm1valid && !mgm2valid && !mgm3valid && !mgm4valid) {
		*outputValid = false;
		validMagField = false;
		return false;
	}
	// Transforming Values to the Body Frame (actually it is the geometry frame atm)
	float mgm0ValueBody[3] = {0,0,0}, mgm1ValueBody[3] = {0,0,0},
			mgm2ValueBody[3] = {0,0,0}, mgm3ValueBody[3] = {0,0,0},
			mgm4ValueBody[3] = {0,0,0};

	bool validUnit[5] = {false, false, false, false, false};
	uint8_t validCount = 0;
	if (mgm0valid) {
		MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0Value, mgm0ValueBody, 3, 3, 1);
		validCount += 1;
		validUnit[0] = true;
	}
	if (mgm1valid) {
		MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1Value, mgm1ValueBody, 3, 3, 1);
		validCount += 1;
		validUnit[1] = true;
	}
	if (mgm2valid) {
		MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2Value, mgm2ValueBody, 3, 3, 1);
		validCount += 1;
		validUnit[2] = true;
	}
	if (mgm3valid) {
		MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3Value, mgm3ValueBody, 3, 3, 1);
		validCount += 1;
		validUnit[3] = true;
	}
	if (mgm4valid) {
		MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4Value, mgm4ValueBody, 3, 3, 1);
		validCount += 1;
		validUnit[4] = true;
	}

	/* -------- MagFieldEst: Middle Value ------- */
	float mgmValues[3][5] = { { mgm0ValueBody[0], mgm1ValueBody[0], mgm2ValueBody[0],
			mgm3ValueBody[0], mgm4ValueBody[0] }, { mgm0ValueBody[1], mgm1ValueBody[1],
					mgm2ValueBody[1], mgm3ValueBody[1], mgm4ValueBody[1] }, { mgm0ValueBody[2],
					mgm1ValueBody[2], mgm2ValueBody[2], mgm3ValueBody[2], mgm4ValueBody[2] } };
	double mgmValidValues[3][validCount];
	uint8_t j = 0;
	for (uint8_t i = 0; i < validCount; i++) {
		if (validUnit[i]) {
			mgmValidValues[0][j] = mgmValues[0][i];
			mgmValidValues[1][j] = mgmValues[1][i];
			mgmValidValues[2][j] = mgmValues[2][i];
			j += 1;
		}
	}
	//Selection Sort
	double mgmValidValuesSort[3][validCount];
	MathOperations<double>::selectionSort(*mgmValidValues, *mgmValidValuesSort, 3, validCount);

	uint8_t n = ceil(validCount/2);
	magFieldEst[0] = mgmValidValuesSort[0][n];
	magFieldEst[1] = mgmValidValuesSort[1][n];
	magFieldEst[2] = mgmValidValuesSort[2][n];
	validMagField = true;

	//-----------------------Mag Rate Computation ---------------------------------------------------
	double timeDiff = timevalOperations::toDouble(timeOfMgmMeasurement - timeOfSavedMagFieldEst);
	for (uint8_t i = 0; i < 3; i++) {
		magneticFieldVectorDerivative[i] = (magFieldEst[i]
				- savedMagFieldEst[i]) / timeDiff;
		savedMagFieldEst[i] = magFieldEst[i];
	}

	*magneticFieldVectorDerivativeValid = true;
	if (timeOfSavedMagFieldEst.tv_sec == 0) {
		magneticFieldVectorDerivative[0] = 0;
		magneticFieldVectorDerivative[1] = 0;
		magneticFieldVectorDerivative[2] = 0;
		*magneticFieldVectorDerivativeValid = false;
	}

	timeOfSavedMagFieldEst = timeOfMgmMeasurement;


	*outputValid = true;

	// ---------------- IGRF- 13 Implementation here ------------------------------------------------
	if (!gpsValid){
		*magFieldModelValid = false;
	}
	else{
		// Should be existing class object which will be called and modified here.
		Igrf13Model igrf13;
		// So the line above should not be done here. Update: Can be done here as long updated coffs
//		stored in acsParameters ?
		igrf13.updateCoeffGH(timeOfMgmMeasurement);
		// maybe put a condition here, to only update after a full day, this
		// class function has around 700 steps to perform
		igrf13.magFieldComp(gpsLongitude, gpsLatitude, gpsAltitude,
				timeOfMgmMeasurement, magFieldModel);
		*magFieldModelValid = false;
	}

	return true;
}

void SensorProcessing::processSus(const float sus0Value[], bool sus0valid, const float sus1Value[], bool sus1valid,
			const float sus2Value[], bool sus2valid, const float sus3Value[], bool sus3valid,
			const float sus4Value[], bool sus4valid, const float sus5Value[], bool sus5valid,
			const float sus6Value[], bool sus6valid, const float sus7Value[], bool sus7valid,
			const float sus8Value[], bool sus8valid, const float sus9Value[], bool sus9valid,
			const float sus10Value[], bool sus10valid, const float sus11Value[], bool sus11valid,
			timeval timeOfSusMeasurement, const AcsParameters::SusHandlingParameters *susParameters,
			const AcsParameters::SunModelParameters *sunModelParameters, double *sunDirEst, bool *sunDirEstValid,
			double *sunVectorInertial, bool *sunVectorInertialValid,
			double *sunVectorDerivative, bool *sunVectorDerivativeValid){

	if(!sus0valid && !sus1valid && !sus2valid && !sus3valid && !sus4valid && !sus5valid
			 && !sus6valid && !sus7valid && !sus8valid && !sus9valid && !sus10valid && !sus11valid){
		*sunDirEstValid = false;
		return;
	}
	else{
	// WARNING: NOT TRANSFORMED IN BODY FRAME YET
	// Transformation into Geomtry Frame
	float sus0ValueBody[3] = {0,0,0}, sus1ValueBody[3] = {0,0,0}, sus2ValueBody[3] = {0,0,0},
			sus3ValueBody[3] = {0,0,0}, sus4ValueBody[3] = {0,0,0}, sus5ValueBody[3] = {0,0,0},
			sus6ValueBody[3] = {0,0,0}, sus7ValueBody[3] = {0,0,0}, sus8ValueBody[3] = {0,0,0},
			sus9ValueBody[3] = {0,0,0}, sus10ValueBody[3] = {0,0,0}, sus11ValueBody[3] = {0,0,0};

	if (sus0valid) {
		MatrixOperations<float>::multiply(susParameters->sus0orientationMatrix[0], sus0Value, sus0ValueBody, 3, 3, 1);
	}
	if (sus1valid) {
		MatrixOperations<float>::multiply(susParameters->sus1orientationMatrix[0], sus1Value, sus1ValueBody, 3, 3, 1);
	}
	if (sus2valid) {
		MatrixOperations<float>::multiply(susParameters->sus2orientationMatrix[0], sus2Value, sus2ValueBody, 3, 3, 1);
	}
	if (sus3valid) {
		MatrixOperations<float>::multiply(susParameters->sus3orientationMatrix[0], sus3Value, sus3ValueBody, 3, 3, 1);
	}
	if (sus4valid) {
		MatrixOperations<float>::multiply(susParameters->sus4orientationMatrix[0], sus4Value, sus4ValueBody, 3, 3, 1);
	}
	if (sus5valid) {
		MatrixOperations<float>::multiply(susParameters->sus5orientationMatrix[0], sus5Value, sus5ValueBody, 3, 3, 1);
	}
	if (sus6valid) {
		MatrixOperations<float>::multiply(susParameters->sus6orientationMatrix[0], sus6Value, sus6ValueBody, 3, 3, 1);
	}
	if (sus7valid) {
		MatrixOperations<float>::multiply(susParameters->sus7orientationMatrix[0], sus7Value, sus7ValueBody, 3, 3, 1);
	}
	if (sus8valid) {
		MatrixOperations<float>::multiply(susParameters->sus8orientationMatrix[0], sus8Value, sus8ValueBody, 3, 3, 1);
	}
	if (sus9valid) {
		MatrixOperations<float>::multiply(susParameters->sus9orientationMatrix[0], sus9Value, sus9ValueBody, 3, 3, 1);
	}
	if (sus10valid) {
		MatrixOperations<float>::multiply(susParameters->sus10orientationMatrix[0], sus10Value, sus10ValueBody, 3, 3, 1);
	}
	if (sus11valid) {
		MatrixOperations<float>::multiply(susParameters->sus11orientationMatrix[0], sus11Value, sus11ValueBody, 3, 3, 1);
	}

	/* ------ Mean Value: susDirEst ------ */
	// Timo already done
	bool validIds[12] = {sus0valid, sus1valid, sus2valid, sus3valid, sus4valid, sus5valid,
			sus6valid, sus7valid, sus8valid, sus9valid, sus10valid, sus11valid};
	float susValuesBody[3][12] = {{sus0ValueBody[0], sus1ValueBody[0], sus2ValueBody[0], sus3ValueBody[0], sus4ValueBody[0],
			sus5ValueBody[0], sus6ValueBody[0], sus7ValueBody[0], sus8ValueBody[0], sus9ValueBody[0], sus10ValueBody[0], sus11ValueBody[0]},
			{sus0ValueBody[1], sus1ValueBody[1], sus2ValueBody[1], sus3ValueBody[1], sus4ValueBody[1],
			sus5ValueBody[1], sus6ValueBody[1], sus7ValueBody[1], sus8ValueBody[1], sus9ValueBody[1], sus10ValueBody[1], sus11ValueBody[1]},
			{sus0ValueBody[2], sus1ValueBody[2], sus2ValueBody[2], sus3ValueBody[2], sus4ValueBody[2],
			sus5ValueBody[2], sus6ValueBody[2], sus7ValueBody[2], sus8ValueBody[2], sus9ValueBody[2], sus10ValueBody[2], sus11ValueBody[2]}};

	double susMeanValue[3] = {0,0,0};
	uint8_t validSusCounter = 0;
	for (uint8_t i = 0; i < 12; i++){
		if (validIds[i]){
			susMeanValue[0]+=susValuesBody[0][i];
			susMeanValue[1]+=susValuesBody[1][i];
			susMeanValue[2]+=susValuesBody[2][i];
			validSusCounter+=1;
		}
	}
	double divisor = 1/validSusCounter;
	VectorOperations<double>::mulScalar(susMeanValue, divisor, sunDirEst, 3);
	*sunDirEstValid = true;
	}

	/* -------- Sun Derivatiative --------------------- */

	double timeDiff = timevalOperations::toDouble(timeOfSusMeasurement - timeOfSavedSusDirEst);
	for (uint8_t i = 0; i < 3; i++) {
		sunVectorDerivative[i] = (sunDirEst[i]
				- savedSunVector[i]) / timeDiff;
		savedSunVector[i] = sunDirEst[i];
	}

	*sunVectorDerivativeValid = true;
	if (timeOfSavedSusDirEst.tv_sec == 0) {
		sunVectorDerivative[0] = 0;
		sunVectorDerivative[1] = 0;
		sunVectorDerivative[2] = 0;
		*sunVectorDerivativeValid = false;
	}

	timeOfSavedSusDirEst = timeOfSusMeasurement;

	/* -------- Sun Model Direction (IJK frame) ------- */
	// if (useSunModel) eventuell
	double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfSusMeasurement);

	//Julean Centuries
	double JC2000 = JD2000 / 36525;

	double meanLongitude = (sunModelParameters->omega_0 + (sunModelParameters->domega) * JC2000) * PI /180;
	double meanAnomaly = (sunModelParameters->m_0
			+ sunModelParameters->dm * JC2000) * PI / 180.;

	double eclipticLongitude = meanLongitude + sunModelParameters->p1 * sin(meanAnomaly)
			+ sunModelParameters->p2 * sin(2 * meanAnomaly);

	double epsilon = sunModelParameters->e - (sunModelParameters->e1) * JC2000;


	sunVectorInertial[0] = cos(eclipticLongitude);
	sunVectorInertial[1] = sin(eclipticLongitude)
			* cos(epsilon);
	sunVectorInertial[2] = sin(eclipticLongitude)
			* sin(epsilon);


	*sunVectorInertialValid = true;
}


void SensorProcessing::processRmu(const double rmu0Value[], bool rmu0valid,
			const double rmu1Value[], bool rmu1valid,
			const double rmu2Value[], bool rmu2valid,
			timeval timeOfrmuMeasurement, const AcsParameters::RmuHandlingParameters *rmuParameters,
			double *satRatEst, bool *satRateEstValid){

	if (!rmu0valid && !rmu1valid && !rmu2valid) {
		*satRateEstValid = false;
		return;
	}
	// Transforming Values to the Body Frame (actually it is the geometry frame atm)
	double rmu0ValueBody[3] = {0,0,0}, rmu1ValueBody[3]= {0,0,0},
			rmu2ValueBody[3] = {0,0,0};

	bool validUnit[3] = {false, false, false};
	uint8_t validCount = 0;
	if (rmu0valid) {
		MatrixOperations<double>::multiply(rmuParameters->rmu0orientationMatrix[0], rmu0Value, rmu0ValueBody, 3, 3, 1);
		validCount += 1;
		validUnit[0] = true;
	}
	if (rmu1valid) {
		MatrixOperations<double>::multiply(rmuParameters->rmu1orientationMatrix[0], rmu1Value, rmu1ValueBody, 3, 3, 1);
		validCount += 1;
		validUnit[1] = true;
	}
	if (rmu2valid) {
		MatrixOperations<double>::multiply(rmuParameters->rmu2orientationMatrix[0], rmu2Value, rmu2ValueBody, 3, 3, 1);
		validCount += 1;
		validUnit[2] = true;
	}

	/* -------- SatRateEst: Middle Value ------- */
	double rmuValues[3][3] = { { rmu0ValueBody[0], rmu1ValueBody[0], rmu2ValueBody[0]}, { rmu0ValueBody[1], rmu1ValueBody[1],
					rmu2ValueBody[1]}, { rmu0ValueBody[2],
					rmu1ValueBody[2], rmu2ValueBody[2]} };
	double rmuValidValues[3][validCount];
	uint8_t j = 0;
	for (uint8_t i = 0; i < validCount; i++) {
		if (validUnit[i]) {
			rmuValidValues[0][j] = rmuValues[0][i];
			rmuValidValues[1][j] = rmuValues[1][i];
			rmuValidValues[2][j] = rmuValues[2][i];
			j += 1;
		}
	}
	//Selection Sort
	double rmuValidValuesSort[3][validCount];
	MathOperations<double>::selectionSort(*rmuValidValues, *rmuValidValuesSort, 3, validCount);

	uint8_t n = ceil(validCount/2);
	satRatEst[0] = rmuValidValuesSort[0][n];
	satRatEst[1] = rmuValidValuesSort[1][n];
	satRatEst[2] = rmuValidValuesSort[2][n];
	*satRateEstValid = true;

}

void SensorProcessing::processGps(const double gps0latitude, const double gps0longitude,
		const bool validGps, double *gcLatitude, double *gdLongitude){
	// name to convert not process
	if (validGps) {
		// Transforming from Degree to Radians and calculation geocentric lattitude from geodetic
		*gdLongitude = gps0longitude * PI / 180;
		double latitudeRad = gps0latitude * PI / 180;
		double eccentricityWgs84 = 0.0818195;
		double factor = 1 - pow(eccentricityWgs84, 2);
		*gcLatitude = atan(factor * tan(latitudeRad));
		validGcLatitude = true;

	}
}

void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
		ACS::OutputValues *outputValues, const AcsParameters *acsParameters) {

	sensorValues->update();
	processGps(sensorValues->gps0latitude, sensorValues->gps0longitude,
			sensorValues->gps0Valid, &outputValues->gcLatitude, &outputValues->gdLongitude);

	outputValues->mgmUpdated = processMgm(sensorValues->mgm0, sensorValues->mgm0Valid,
			sensorValues->mgm1, sensorValues->mgm1Valid,
			sensorValues->mgm2, sensorValues->mgm2Valid,
			sensorValues->mgm3, sensorValues->mgm3Valid,
			sensorValues->mgm4, sensorValues->mgm4Valid, now,
			&acsParameters->mgmHandlingParameters, outputValues->gcLatitude,
			outputValues->gdLongitude, sensorValues->gps0altitude,
			sensorValues->gps0Valid,
			outputValues->magFieldEst, &outputValues->magFieldEstValid,
			outputValues->magFieldModel, &outputValues->magFieldModelValid,
			outputValues->magneticFieldVectorDerivative, &outputValues->magneticFieldVectorDerivativeValid); // VALID outputs- PoolVariable ?

	processSus(sensorValues->sus0, sensorValues->sus0Valid, sensorValues->sus1, sensorValues->sus1Valid,
			sensorValues->sus2, sensorValues->sus2Valid, sensorValues->sus3, sensorValues->sus3Valid,
			sensorValues->sus4, sensorValues->sus4Valid, sensorValues->sus5, sensorValues->sus5Valid,
			sensorValues->sus6, sensorValues->sus6Valid, sensorValues->sus7, sensorValues->sus7Valid,
			sensorValues->sus8, sensorValues->sus8Valid, sensorValues->sus9, sensorValues->sus9Valid,
			sensorValues->sus10, sensorValues->sus10Valid, sensorValues->sus11, sensorValues->sus11Valid,
			now, &acsParameters->susHandlingParameters, &acsParameters->sunModelParameters,
			outputValues->sunDirEst, &outputValues->sunDirEstValid,
			outputValues->sunDirModel, &outputValues->sunDirModelValid,
			outputValues->sunVectorDerivative, &outputValues->sunVectorDerivativeValid); // VALID outputs ?

	processRmu(sensorValues->rmu0, sensorValues->rmu0Valid, sensorValues->rmu1, sensorValues->rmu1Valid,
			sensorValues->rmu2, sensorValues->rmu2Valid, now, &acsParameters->rmuHandlingParameters,
			outputValues->satRateEst, &outputValues->satRateEstValid);

}