#include "gyro.h"
#include "Localisation.h"
#include "QEI.h"
#include "math.h"
#include "Geometrie_robot.h"
#include "Robot_config.h"

struct position_t position;

void Localisation_init(){
    position.x_mm = 0;
    position.y_mm = 0;
    position.angle_radian = 0;
}

void Localisation_set(float x_mm, float y_mm, float angle_radian){
    position.x_mm = x_mm;
    position.y_mm = y_mm;
    position.angle_radian = angle_radian;
    gyro_set_angle_radian(angle_radian);
}

void Localisation_set_x(float x_mm){
    position.x_mm = x_mm;
}

void Localisation_set_y(float y_mm){
    position.y_mm = y_mm;
}

void Localisation_set_angle(float angle_radian){
    position.angle_radian = angle_radian;
}

void Localisation_gestion(){
    struct t_angle_gyro_float angle_gyro;
    // Voir http://poivron-robotique.fr/Robot-holonome-localisation-partie-2.html
    float distance_roue_a_mm = QEI_get_mm(QEI_A_NAME);
    float distance_roue_b_mm = QEI_get_mm(QEI_B_NAME);
    float  distance_roue_c_mm = QEI_get_mm(QEI_C_NAME);
    float delta_x_ref_robot, delta_y_ref_robot;

    float old_orientation_radian = position.angle_radian;

    delta_x_ref_robot = (distance_roue_a_mm + distance_roue_b_mm - 2 * distance_roue_c_mm)  / 3.0;
    delta_y_ref_robot = (-distance_roue_a_mm + distance_roue_b_mm)  * RACINE_DE_3 / 3.0;

    if(get_position_avec_gyroscope() && !get_position_avec_gyroscope_error()){
        angle_gyro = gyro_get_angle_degres();
        position.angle_radian = angle_gyro.rot_z / 180. * M_PI ;
    }else{
        position.angle_radian += - ( distance_roue_a_mm + distance_roue_b_mm + distance_roue_c_mm) / (3 * DISTANCE_ROUES_CENTRE_MM);
    }

    // Projection dans le référentiel de la table
    position.x_mm += delta_x_ref_robot * cosf(position.angle_radian) - delta_y_ref_robot * sinf(position.angle_radian);
    position.y_mm += delta_x_ref_robot * sinf(position.angle_radian) + delta_y_ref_robot * cosf(position.angle_radian);

}

struct position_t Localisation_get(void){
    return position;
}