#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include "path.h"

command *command_new(timestamp ts, accel_t a, turn_t t){
	command* res;
	res = g_slice_new(command);
	res->ts = ts;
	res->accel = a;
	res->turn = t;
	return res;
}

void command_free(command* c){
	g_slice_free(command, c);
}

static double angle_for_rot(double from, double to) {
	double a = to - from;
	if (a > 180) a = -360 + a;
	else if (a < -180) a = 360 + a;
	return a;
}

path *path_new(){
	path* res;

	res = g_slice_new(path);
	res->commands = g_queue_new();
	return res;
}

void path_execute(trial* t,path* p){
	command* tmp;
	timestamp now;
	tmp = (command*) g_queue_peek_head(p->commands);
	/*if(tmp == NULL){
		fprintf(stderr,"warning: cannot execute empty path\n");
	}*/
	if(t == NULL){
		fprintf(stderr,"trial is null\n");
		return;
	}

	now = getcurts(t);
	while(tmp != NULL && now > tmp->ts ){
		fprintf(stderr, "now: %u, ts: %u, turn: %i, accel: %i\n", now, tmp->ts, tmp->turn, tmp->accel);
		tmp = (command*) g_queue_pop_head(p->commands);
		switch(tmp->turn){
			case TURN_HARD_LEFT: vehicle_hard_left(t); break;
			case TURN_LEFT: vehicle_left(t); break;
			case TURN_STRAIGHT: vehicle_straight(t); break;
			case TURN_RIGHT: vehicle_right(t); break;
			case TURN_HARD_RIGHT: vehicle_hard_right(t); break;
		}
		switch(tmp->accel){
			case ACCEL: vehicle_accel(t); break;
			case ROLL: vehicle_roll(t); break;
			case BRAKE: vehicle_break(t); break;
		}
		command_free(tmp);
		tmp = (command*) g_queue_peek_head(p->commands);
	}
}


void path_free(path* p){
	int length;
	command* tmp;
	length = g_queue_get_length(p->commands);
	if(length > 0){
		fprintf(stderr,"Freeing non-empty path:\n");
		while(g_queue_get_length(p->commands) > 0){
			tmp = g_queue_pop_head(p->commands);
			fprintf(stderr,"\tTimestamp: %d	Turn: %d Accel: %d\n",tmp->ts,tmp->turn,tmp->accel);
			command_free(tmp);
		}
	}
	g_queue_free(p->commands);
	g_slice_free(path,p);
}


/*common path building bricks, to be called in rest*/

int path_app_target(path* p, trial* t,int offset, int x, int y){
	command* tmp;
	double angle, stop;
	vehicle* v;
	map* m;

	v = &t->vehicle;
	m = &t->map;

	/* Turn towards origin, take shorter direction, TODO: fix, thats only an approximation*/
	angle = atan2(y-v->y,x-v->x)*180/M_PI;
	angle = angle_for_rot(v->dir, angle);
	stop = fabs(angle)/m->max_hard_turn*1000;
	printf("Angle: %f stop: %f\n",angle,stop);
	if(angle > 0){
		/*clockwise/left turn*/
		tmp = command_new(offset,BRAKE,TURN_HARD_LEFT);
		g_queue_push_tail(p->commands,tmp);
	} else {
		/*counterclockwise/right turn*/
		tmp = command_new(offset,BRAKE,TURN_HARD_RIGHT);
		g_queue_push_tail(p->commands,tmp);
	}

	/*start driving*/
 	tmp = command_new(offset + stop,ACCEL,TURN_STRAIGHT);
 	g_queue_push_tail(p->commands,tmp);
	return stop;
}

int path_app_fitseq(path* p, trial* t,timestamp offset, timestamp testtime){
	command* tmp;
	if(testtime < 200)
		fprintf(stderr,"very short testtime, may yield inaccurate results\n");
	tmp = command_new(offset,ACCEL,TURN_STRAIGHT);
	g_queue_push_tail(p->commands,tmp);
	tmp = command_new(offset+testtime,BRAKE,TURN_STRAIGHT);
	g_queue_push_tail(p->commands,tmp);
	tmp = command_new(offset+2*testtime,BRAKE,TURN_RIGHT);
	g_queue_push_tail(p->commands,tmp);
	tmp = command_new(offset+3*testtime,BRAKE,TURN_STRAIGHT);
	g_queue_push_tail(p->commands,tmp);
	
	return 4*testtime;
}

/*analyze a fit-sequence at specified offset and testtime*/
void trial_fit(trial* t, int offset, int testtime){
	telemetry* tmp;
	int len,i;
	double v1,v2,t1,t2;
	double a, k;

	len = g_queue_get_length(&t->telemetry);

	/*Linear speed*/
	i = 0;
	tmp = g_queue_peek_nth(&t->telemetry,i);
	while(tmp->ts < offset){
		v1 = tmp->vehicle.speed;
		t1 = tmp->ts;
		i++;
		tmp = g_queue_peek_nth(&t->telemetry,i);
	}
	while(tmp->ts < offset + testtime){
		v2 = tmp->vehicle.speed;
		t2 = tmp->ts;
		i++;
		tmp = g_queue_peek_nth(&t->telemetry,i);
	}

	a = (v2 - v1)/(t2 - t1);
	k = a/t->map.max_speed/t->map.max_speed;

	/*Rotation*/
	while(tmp->ts < offset){
		v1 = tmp->vehicle.dir;
		t1 = tmp->ts;
		i++;
		tmp = g_queue_peek_nth(&t->telemetry,i);
	}
	while(tmp->ts < offset + testtime){
		v2 = tmp->vehicle.dir;
		t2 = tmp->ts;
		i++;
		tmp = g_queue_peek_nth(&t->telemetry,i);
	}
	fprintf(stderr,"a: %f. k: %f\n",a,k);

}