#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];
int ispeed=0;
float fZeit= 0;
float fSpeedminleft= 0;
float fSpeedminright=0;
float fSpeedmaxleft=0;
int iTicks=31;
float callibration_drive(unsigned int tickstogo, float calfactor);
int Emit_vmin(bool state);
float calculate_min_veliocity(bool side);

unsigned int getcount_function(bool left_notright);
void set_speed_function(bool left_notright, unsigned int speed);
unsigned int get_inmin(bool left_notright);

//---- Hier startet der Code zum Einstellen aller wichtigen Dinge. Setup() wird einmal ausgeführt. ----
void setup() {
    // 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 loop() 
{
 bool started = false;
 while(coderacer.start_stop()== 1)
  {
    if(false == started)
    {
      started = true;
      wait_ms(1000);
    }
    
    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);


    //float vminright= calculate_min_veliocity(1);
    //Serial.println(vminright);
    //speedleft = speedleft == 0 ? 128 : 0;
    //speedright = speedright == 0 ? 128 : 0;
    //coderacer.drive_forward(speedleft, speedright);
    //coderacer.set_drives_speed_left_right(speedleft,speedright);
    //coderacer.drive_forward();
    //wait_ms(1000);
    //coderacer.stop_driving();
    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_before_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);}
}




float calculate_min_veliocity(bool side)
    {
      ispeed=Emit_vmin(side);
      coderacer.speed_settings(ispeed, ispeed);
      coderacer.set_left_start_time();
      coderacer.set_right_start_time();
      int iStepsbefore=coderacer.show_left_stepcounter();
      Serial.printf("Schritte: %i\n", iStepsbefore);
      coderacer.drive_ticks(iTicks, iTicks);
      while(coderacer.is_driving()){};
      if(1==side)
      {
        fZeit= (coderacer.show_left_time_of_last_tick()- coderacer.show_left_start_time())/1000.0;
        int iDifferenz= coderacer.show_left_stepcounter()-iStepsbefore-1;
        Serial.printf("Zeit: %f timebefore: %lu timeafter: %lu Ticks: %i differenz: %i\n", fZeit, coderacer.show_left_start_time(), coderacer.show_left_time_of_last_tick(), coderacer.show_left_stepcounter(), iDifferenz);
        
        fSpeedminleft= (float)iDifferenz/fZeit;
      }
      else
      {
        fZeit= (coderacer.show_right_time_of_last_tick()- coderacer.show_right_start_time())/1000.0;
        int iDifferenz= coderacer.show_right_stepcounter()-iStepsbefore-1;
        fSpeedminright= (float)iDifferenz/fZeit;      
      }
      if(1==side)
      {
        return fSpeedminleft;
      }
      else return fSpeedminright;
    }

int Emit_vmin(bool state){
  int iSteps=0;
  if(1== state)
  {
    iSteps= coderacer.show_left_stepcounter();
  }
  else {iSteps= coderacer.show_right_stepcounter();}
  for(int i=0;i<=150; i++)
  {
    if(1== state)
    {
      if(iSteps<coderacer.show_left_stepcounter())
      {
        return i*1.1;
        break;
      }
      coderacer.drive_forward(i, 0);
      Serial.println(i);
    }
    else
    {
     if(iSteps<coderacer.show_right_stepcounter())
      {
        return i*1.1;
        break;
      }
      coderacer.drive_forward(0, i);
      Serial.println(i);
    }
  }
  return 0;
}

//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;
}