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#include "BoatKinematics.hpp"

#include <mathlib/mathlib.h>

using namespace matrix;
using namespace time_literals;

BoatKinematics::BoatKinematics(ModuleParams *parent) : ModuleParams(parent)
{}

void BoatKinematics::allocate()
{
	hrt_abstime now = hrt_absolute_time();

	if (_boat_control_output_sub.updated()) {
		_boat_control_output_sub.copy(&_boat_control_output);
	}

	const bool setpoint_timeout = (_boat_control_output.timestamp + 100_ms) < now;

	Vector2f boat_output =
		computeInverseKinematics(_boat_control_output.speed, _boat_control_output.yaw_rate);

	if (!_armed || setpoint_timeout) {
		boat_output = {}; // stop
	}

	boat_output = matrix::constrain(boat_output, -1.f, 1.f);

	actuator_motors_s actuator_motors{};
	actuator_motors.control[0] = boat_output(0);
	actuator_motors.control[1] = boat_output(0);
	actuator_motors.timestamp = now;
	_actuator_motors_pub.publish(actuator_motors);

	actuator_servos_s actuator_servos{};
	actuator_servos.control[0] = boat_output(1);
	actuator_servos.control[1] = boat_output(1);
	actuator_servos.timestamp = now;
	_actuator_servos_pub.publish(actuator_servos);
}

matrix::Vector2f BoatKinematics::computeInverseKinematics(float linear_velocity_x, float yaw_rate) const
{
	if (_max_speed < FLT_EPSILON) {
		return Vector2f();
	}

	linear_velocity_x = math::constrain(linear_velocity_x, -_max_speed, _max_speed);
	yaw_rate = math::constrain(yaw_rate, -_max_angular_velocity, _max_angular_velocity);

	float throttle = linear_velocity_x / _max_speed;
	float rudder_angle = yaw_rate / _max_angular_velocity;

	return Vector2f(throttle, rudder_angle);
}