/*
 * PtgCtrl.cpp
 *
 *  Created on: 17 Jul 2022
 *      Author: Robin Marquardt
 */

#include "PtgCtrl.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"

PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { loadAcsParameters(acsParameters_); }

PtgCtrl::~PtgCtrl() {}

void PtgCtrl::loadAcsParameters(AcsParameters *acsParameters_) {
  inertiaEIVE = &(acsParameters_->inertiaEIVE);
  rwHandlingParameters = &(acsParameters_->rwHandlingParameters);
  rwMatrices = &(acsParameters_->rwMatrices);
}

void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters,
                     const double *errorQuat, const double *deltaRate, const double *rwPseudoInv,
                     double *torqueRws) {
  //------------------------------------------------------------------------------------------------
  // Compute gain matrix K and P matrix
  //------------------------------------------------------------------------------------------------
  double om = pointingLawParameters->om;
  double zeta = pointingLawParameters->zeta;
  double qErrorMin = pointingLawParameters->qiMin;
  double omMax = pointingLawParameters->omMax;

  double qError[3] = {errorQuat[0], errorQuat[1], errorQuat[2]};

  double cInt = 2 * om * zeta;
  double kInt = 2 * pow(om, 2);

  double qErrorLaw[3] = {0, 0, 0};

  for (int i = 0; i < 3; i++) {
    if (abs(qError[i]) < qErrorMin) {
      qErrorLaw[i] = qErrorMin;
    } else {
      qErrorLaw[i] = abs(qError[i]);
    }
  }
  double qErrorLawNorm = VectorOperations<double>::norm(qErrorLaw, 3);

  double gain1 = cInt * omMax / qErrorLawNorm;
  double gainVector[3] = {0, 0, 0};
  VectorOperations<double>::mulScalar(qErrorLaw, gain1, gainVector, 3);

  double gainMatrixDiagonal[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  double gainMatrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  gainMatrixDiagonal[0][0] = gainVector[0];
  gainMatrixDiagonal[1][1] = gainVector[1];
  gainMatrixDiagonal[2][2] = gainVector[2];
  MatrixOperations<double>::multiply(*gainMatrixDiagonal, *(inertiaEIVE->inertiaMatrix),
                                     *gainMatrix, 3, 3, 3);

  // Inverse of gainMatrix
  double gainMatrixInverse[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  gainMatrixInverse[0][0] = 1 / gainMatrix[0][0];
  gainMatrixInverse[1][1] = 1 / gainMatrix[1][1];
  gainMatrixInverse[2][2] = 1 / gainMatrix[2][2];

  double pMatrix[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  MatrixOperations<double>::multiply(*gainMatrixInverse, *(inertiaEIVE->inertiaMatrix), *pMatrix, 3,
                                     3, 3);
  MatrixOperations<double>::multiplyScalar(*pMatrix, kInt, *pMatrix, 3, 3);

  //------------------------------------------------------------------------------------------------
  // Torque Calculations for the reaction wheels
  //------------------------------------------------------------------------------------------------

  double pError[3] = {0, 0, 0};
  MatrixOperations<double>::multiply(*pMatrix, qError, pError, 3, 3, 1);
  double pErrorSign[3] = {0, 0, 0};

  for (int i = 0; i < 3; i++) {
    if (abs(pError[i]) > 1) {
      pErrorSign[i] = sign(pError[i]);
    } else {
      pErrorSign[i] = pError[i];
    }
  }
  //	Torque for quaternion error
  double torqueQuat[3] = {0, 0, 0};
  MatrixOperations<double>::multiply(*gainMatrix, pErrorSign, torqueQuat, 3, 3, 1);
  VectorOperations<double>::mulScalar(torqueQuat, -1, torqueQuat, 3);

  //  Torque for rate error
  double torqueRate[3] = {0, 0, 0};
  MatrixOperations<double>::multiply(*(inertiaEIVE->inertiaMatrix), deltaRate, torqueRate, 3, 3, 1);
  VectorOperations<double>::mulScalar(torqueRate, cInt, torqueRate, 3);
  VectorOperations<double>::mulScalar(torqueRate, -1, torqueRate, 3);

  //	Final commanded Torque for every reaction wheel
  double torque[3] = {0, 0, 0};
  VectorOperations<double>::add(torqueRate, torqueQuat, torque, 3);
  MatrixOperations<double>::multiply(rwPseudoInv, torque, torqueRws, 4, 3, 1);
  VectorOperations<double>::mulScalar(torqueRws, -1, torqueRws, 4);
}

void PtgCtrl::ptgDesaturation(AcsParameters::PointingLawParameters *pointingLawParameters,
                              double *magFieldEst, bool magFieldEstValid, double *satRate,
                              int32_t *speedRw0, int32_t *speedRw1, int32_t *speedRw2,
                              int32_t *speedRw3, double *mgtDpDes) {
  if (!(magFieldEstValid) || !(pointingLawParameters->desatOn)) {
    mgtDpDes[0] = 0;
    mgtDpDes[1] = 0;
    mgtDpDes[2] = 0;
    return;
  }

  //	calculating momentum of satellite and momentum of reaction wheels
  double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
  double momentumRwU[4] = {0, 0, 0, 0}, momentumRw[3] = {0, 0, 0};
  VectorOperations<double>::mulScalar(speedRws, rwHandlingParameters->inertiaWheel, momentumRwU, 4);
  MatrixOperations<double>::multiply(*(rwMatrices->alignmentMatrix), momentumRwU, momentumRw, 3, 4,
                                     1);
  double momentumSat[3] = {0, 0, 0}, momentumTotal[3] = {0, 0, 0};
  MatrixOperations<double>::multiply(*(inertiaEIVE->inertiaMatrix), satRate, momentumSat, 3, 3, 1);
  VectorOperations<double>::add(momentumSat, momentumRw, momentumTotal, 3);
  //	calculating momentum error
  double deltaMomentum[3] = {0, 0, 0};
  VectorOperations<double>::subtract(momentumTotal, pointingLawParameters->desatMomentumRef,
                                     deltaMomentum, 3);
  //	resulting magnetic dipole command
  double crossMomentumMagField[3] = {0, 0, 0};
  VectorOperations<double>::cross(deltaMomentum, magFieldEst, crossMomentumMagField);
  double normMag = VectorOperations<double>::norm(magFieldEst, 3), factor = 0;
  factor = (pointingLawParameters->deSatGainFactor) / normMag;
  VectorOperations<double>::mulScalar(crossMomentumMagField, factor, mgtDpDes, 3);
}

void PtgCtrl::ptgNullspace(AcsParameters::PointingLawParameters *pointingLawParameters,
                           const int32_t *speedRw0, const int32_t *speedRw1,
                           const int32_t *speedRw2, const int32_t *speedRw3, double *rwTrqNs) {
  double speedRws[4] = {(double)*speedRw0, (double)*speedRw1, (double)*speedRw2, (double)*speedRw3};
  double wheelMomentum[4] = {0, 0, 0, 0};
  double rpmOffset[4] = {1, 1, 1, -1}, factor = 350 * 2 * Math::PI / 60;
  // Conversion to [rad/s] for further calculations
  VectorOperations<double>::mulScalar(rpmOffset, factor, rpmOffset, 4);
  VectorOperations<double>::mulScalar(speedRws, 2 * Math::PI / 60, speedRws, 4);
  double diffRwSpeed[4] = {0, 0, 0, 0};
  VectorOperations<double>::subtract(speedRws, rpmOffset, diffRwSpeed, 4);
  VectorOperations<double>::mulScalar(diffRwSpeed, rwHandlingParameters->inertiaWheel,
                                      wheelMomentum, 4);
  double gainNs = pointingLawParameters->gainNullspace;
  double nullSpaceMatrix[4][4] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  MathOperations<double>::vecTransposeVecMatrix(rwMatrices->nullspace, rwMatrices->nullspace,
                                                *nullSpaceMatrix, 4);
  MatrixOperations<double>::multiply(*nullSpaceMatrix, wheelMomentum, rwTrqNs, 4, 4, 1);
  VectorOperations<double>::mulScalar(rwTrqNs, gainNs, rwTrqNs, 4);
  VectorOperations<double>::mulScalar(rwTrqNs, -1, rwTrqNs, 4);
}

void PtgCtrl::rwAntistiction(ACS::SensorValues *sensorValues, double *torqueCommand) {
  bool rwAvailable[4] = {
      (sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid()),
      (sensorValues->rw2Set.state.value && sensorValues->rw2Set.state.isValid()),
      (sensorValues->rw3Set.state.value && sensorValues->rw3Set.state.isValid()),
      (sensorValues->rw4Set.state.value && sensorValues->rw4Set.state.isValid())};
  int32_t omegaRw[4] = {sensorValues->rw1Set.currSpeed.value, sensorValues->rw2Set.currSpeed.value,
                        sensorValues->rw3Set.currSpeed.value, sensorValues->rw4Set.currSpeed.value};
  for (uint8_t i = 0; i < 4; i++) {
    if (rwAvailable[i]) {
      if (torqueMemory[i] != 0) {
        if ((omegaRw[i] * torqueMemory[i]) > rwHandlingParameters->stictionReleaseSpeed) {
          torqueMemory[i] = 0;
        } else {
          torqueCommand[i] = torqueMemory[i] * rwHandlingParameters->stictionTorque;
        }
      } else {
        if ((omegaRw[i] < rwHandlingParameters->stictionSpeed) &&
            (omegaRw[i] > -rwHandlingParameters->stictionSpeed)) {
          if (omegaRw[i] < omegaMemory[i]) {
            torqueMemory[i] = -1;
          } else {
            torqueMemory[i] = 1;
          }

          torqueCommand[i] = torqueMemory[i] * rwHandlingParameters->stictionTorque;
        }
      }
    } else {
      torqueMemory[i] = 0;
    }
    omegaMemory[i] = omegaRw[i];
  }
}