#include "CodeRacer_MKII.h"

#include <ESP32Servo.h>
#include "esp32-hal-ledc.h"

//----- Werte für den Ultraschallsensor -----
#define US_STOP_ABSTAND_CM 20     // Wenn der gemessene Abstand kleiner ist, hält der CodeRacer an
#define US_MIN_ABSTAND_LI_RE 8    // Wenn der Unterschied zwischen linkem und und rechtem Abstand kleiner ist, dann drehe in dieselbe Richtugn wie vorher weiter
#define MAX_ANZAHL_DREHUNGEN 10   // Wenn der Coderacer sich schon so oft gedreht hat ohne eine Stelle zu finden, wo es Platz gibt - fahren wir mal ein Stück rückwärts ... 

//----- Variablen, die wir brauchen um uns Werte zu merken ----
long abstand_vorn_cm, abstand_links_cm, abstand_rechts_cm;
enum drehrichtung {links=0, rechts}; 
drehrichtung drehung = links;
unsigned int anzahl_drehung = 0;
CodeRacerMKII coderacer;

int aabstand[160];
void filladistance();
int adegree[160];
unsigned int ispeed=0;
float fZeit= 0;
float fSpeedminleft= 0;
float fSpeedminright=0;
float fSpeedmaxleft=0;
float fSpeedmaxright=0;
int iTicks=101;
float callibration_drive(unsigned int tickstogo, float calfactor);

unsigned int getcount_function(bool left_notright);
void set_speed_function(bool left_notright, unsigned int speed);
unsigned int get_inmin(bool left_notright);
void calculate_veliocity(unsigned int inleft, unsigned int inright, float* vleft, float* vright);

const bool LEFT = true;
const bool RIGHT = false;
const unsigned int IN_MAX = 255;

//---- Hier startet der Code zum Einstellen aller wichtigen Dinge. Setup() wird einmal ausgeführt. ----
void setup2() {
    // Monitor
    Serial.begin(9600);               //  Serial Monitor aktivieren. Mit dem Monitor kann man sich Werte und Meldungen anzeigen lassen.

    // CodeRacer initialisieren
    coderacer.begin();

    coderacer.servo_set_to_left();
    delay(10);
    coderacer.servo_set_to_right();
    delay(10);
    coderacer.servo_set_to_center(); 
    
    anzahl_drehung = 0;
    drehung = links;
    coderacer.set_syncstop(true);
    coderacer.set_obstacle_stop(false);
    
}

//---- Hier startet unsere endlose Schleife - die immer wieder von vorn angefangen wird, wenn wir am Ende angekommen sind. Da ist unser "Fahr"Code drin, der den CodeRacer steuert
void loop2() 
{
  coderacer.drive_distance_mm(1000, 1000);

 bool started = false;
 while(coderacer.start_stop()== 1)
  {
    if(false == started)
    {
      started = true;
      wait_ms(1000);
    }
    
  
  
    
    
    // below - mitteln
    coderacer.stop_driving();
    unsigned int in_min_left = get_inmin(true);
    wait_ms(1000);      // do not use delay() this will create problems with interrupt routines! use the wait_ms() instead !!!!
    unsigned int in_min_right = get_inmin(false);
    Serial.printf("left in_min: %u right in_min: %u \n", in_min_left, in_min_right);
    wait_ms(1000);

    calculate_veliocity(in_min_left, in_min_right, &fSpeedminleft, &fSpeedminright);
    wait_ms(1000);
    calculate_veliocity(IN_MAX, IN_MAX, &fSpeedmaxleft, &fSpeedmaxright);
    Serial.printf("Left vmin:%f vmax:%f  Right vmin:%f vmax: %f\n", fSpeedminleft, fSpeedmaxleft, fSpeedminright, fSpeedmaxright);
    //above - mitteln



    float nLeft= (fSpeedmaxleft- fSpeedminleft)/(IN_MAX- in_min_left);
    float mLeft= fSpeedmaxleft-nLeft*IN_MAX;
    float nRight= (fSpeedmaxright- fSpeedminright)/(IN_MAX- in_min_right);
    float mRight= fSpeedmaxright-nRight*IN_MAX;

    Serial.printf(" nleft: %f mleft:%f  nright:%f mright:%f\n", nLeft, mLeft, nRight, mRight);

    wait_ms(5000);
    unsigned int vracer = 35;
    unsigned int inleft = (vracer - mLeft)/nLeft;
    unsigned int inright = (vracer - mRight)/nRight;
    Serial.printf("inleft: %u inright:%u\n", inleft, inright);
    coderacer.speed_settings(inleft, inright);
    unsigned int lticks = coderacer.show_left_stepcounter();
    unsigned int rticks = coderacer.show_right_stepcounter();
    coderacer.drive_ticks(100,100);
    while(coderacer.is_driving()){}
    rticks = coderacer.show_right_stepcounter() - rticks;
    lticks = coderacer.show_left_stepcounter() - lticks;
    Serial.printf("Cal. Steps left: %u right: %u \n",    lticks, rticks);
    wait_ms(1000);

    coderacer.speed_settings(inleft, inleft);
    lticks = coderacer.show_left_stepcounter();
    rticks = coderacer.show_right_stepcounter();
    coderacer.drive_ticks(100,100);
    while(coderacer.is_driving()){}
    rticks = coderacer.show_right_stepcounter() - rticks;
    lticks = coderacer.show_left_stepcounter() - lticks;
    Serial.printf("Uncal.Steps left: %u right: %u \n",    lticks, rticks);
 

    wait_ms(1000);
    coderacer.set_inactive(); 
  }
}


unsigned int get_inmin(bool left_notright )
{
  unsigned int steps_before_driving = getcount_function(left_notright);
  //Serial.printf("Steps before driving: %u \n", steps_before_driving );
  for(unsigned int pwm_in = 0; pwm_in < 255; pwm_in = pwm_in+5)
  {
    unsigned int steps_after_driving = getcount_function(left_notright);
    if(steps_after_driving > steps_before_driving)
    {
      //Serial.printf("Steps after driving: %u \n", steps_after_driving );
      coderacer.stop_driving();
      return pwm_in*1.1;
    }
    set_speed_function(left_notright, pwm_in);
    wait_ms(100);
  }
  coderacer.stop_driving();
  return 0 ;
}

unsigned int getcount_function(bool left_notright)
{
  if(true == left_notright){return coderacer.show_left_stepcounter();}
  else{return coderacer.show_right_stepcounter();}
}

void set_speed_function(bool left_notright, unsigned int speed)
{
  if(true == left_notright){coderacer.drive_forward(speed,0);}
  else{coderacer.drive_forward(0,speed);}
}




void calculate_veliocity(unsigned int inleft, unsigned int inright, float* vleft, float* vright)
{
  coderacer.speed_settings(inleft, inright);
  coderacer.set_left_start_time();
  coderacer.set_right_start_time();
  unsigned int iStepsbefore_left  = coderacer.show_left_stepcounter();
  unsigned int iStepsbefore_right = coderacer.show_right_stepcounter();
  coderacer.drive_ticks(iTicks, iTicks);
  while(coderacer.is_driving()){};

  unsigned int iStepsafter_left  = coderacer.show_left_stepcounter();
  unsigned int iStepsafter_right = coderacer.show_right_stepcounter();
  
  unsigned int iDifferenz_left   = iStepsafter_left - iStepsbefore_left-1;
  unsigned int iDifferenz_right   = iStepsafter_right - iStepsbefore_right-1;

  Serial.printf("Schritte before left: %u right: %u  Steps after left:%u  right:%u Steps diff left: %u right %u\n", iStepsbefore_left , iStepsbefore_right, iStepsafter_left, iStepsafter_right, iDifferenz_left, iDifferenz_right);

  unsigned long lzeit_left = coderacer.show_left_time_of_last_tick()- coderacer.show_left_start_time();
  unsigned long lzeit_right = coderacer.show_right_time_of_last_tick()- coderacer.show_right_start_time();

  //Serial.printf("Links Startzeit:%lu Endzeit:%lu Runtime:%lu\n", coderacer.show_left_start_time(),coderacer.show_left_time_of_last_tick(), lzeit_left);
  //Serial.printf("Rechts Startzeit:%lu Endzeit:%lu Runtime:%lu\n", coderacer.show_right_start_time(), coderacer.show_right_time_of_last_tick(), lzeit_right);
    
  float fSpeedleft= iDifferenz_left/((float)lzeit_left/1000.0);
  *vleft = fSpeedleft;
  float fSpeedright= iDifferenz_right/((float)lzeit_right/1000.0);
  *vright = fSpeedright;  
  //Serial.printf("Speed left: %f right: %f\n" , fSpeedleft, fSpeedright);  
}


//Serial.printf("links %i\n", coderacer.show_left_stepcounter());
//Serial.printf("rechts %i\n", coderacer.show_right_stepcounter());
//Serial.printf("%i\n", coderacer.show_distance_mm());

float callibration_drive(unsigned int tickstogo, float calfactor)
{
    unsigned int stepsprevl; 
    unsigned int stepsprevr;
    float GesamtSummeR = 0; 
    float GesamtSummeL=0; 
    unsigned int runcounter = 0;
    int runs= 4;
    float MittelSummeR; 
    float MittelSummeL;
    unsigned int tickcheck= tickstogo*1.02;
    for(unsigned int v= 190;v<=200;v=v+10)
    {
      unsigned int vr = v + calfactor*255;
      unsigned int vl = v - calfactor*255;
      runcounter ++;
      coderacer.speed_settings(vl, vr);
      Serial.println(vl);
      Serial.println(vr);
      int SummeR = 0;
      int SummeL=0;
      for (int i=1; i<=runs; i++) 
      {
        stepsprevl = coderacer.show_left_stepcounter();
        stepsprevr = coderacer.show_right_stepcounter();
        coderacer.drive_ticks_left(tickstogo, true);
        while (1== coderacer.is_driving()){}
        delay(1000);
        SummeR = SummeR + (coderacer.show_right_stepcounter() - stepsprevr);
        SummeL= SummeL +(coderacer.show_left_stepcounter()- stepsprevl);
        if (tickcheck<(coderacer.show_left_stepcounter() - stepsprevl))
        {
          Serial.printf("ERROR: calibration failed");
          Serial.printf("links=%i\n" ,coderacer.show_left_stepcounter()- stepsprevl);
          return 0;
        } 
        Serial.printf("v=%i links=%i rechts=%i\n" ,v, coderacer.show_left_stepcounter()- stepsprevl, coderacer.show_right_stepcounter() - stepsprevr);
        
      }
      GesamtSummeR = GesamtSummeR+ SummeR/4.0;
      GesamtSummeL = GesamtSummeL+ SummeL/4.0;
    }
    MittelSummeR= GesamtSummeR/(float)runcounter;
    MittelSummeL= GesamtSummeL/(float)runcounter;
    float CalibrationFactor= MittelSummeL/ MittelSummeR;
    return CalibrationFactor;
}