#include <FastSerial.h>
#include <AP_Controller.h>
#include <AP_Var.h>
#include <AP_RcChannel.h>
#include <APM_RC.h>

FastSerialPort0(Serial);

class CarController : public AP_Controller
{
private:
    // state
    AP_Float & velocity;
    AP_Float & heading;

    // control variables
    AP_Float & headingCommand;
    AP_Float & velocityCommand;

    // channels
    AP_RcChannel * steeringCh;
    AP_RcChannel * throttleCh;

public:
    CarController(AP_Var::Key pidStrKey, AP_Var::Key pidThrKey,
            AP_Float & heading, AP_Float & velocity,
            AP_Float & headingCommand, AP_Float & velocityCommand,
            AP_RcChannel * steeringCh, AP_RcChannel * throttleCh) :
        heading(heading), velocity(velocity),
        headingCommand(headingCommand), velocityCommand(velocityCommand), 
        steeringCh(steeringCh), throttleCh(throttleCh)
    {
        // steering control loop
        addBlock(new SumGain(headingCommand,AP_Float_unity,heading,AP_Float_negative_unity));
        addBlock(new Pid(pidStrKey,PSTR("STR"),1,1,1,1,20));
        addBlock(new ToServo(steeringCh));


        // throttle control loop
        addBlock(new SumGain(velocityCommand,AP_Float_unity,velocity,AP_Float_negative_unity));
        addBlock(new Pid(pidThrKey,PSTR("THR"),1,1,1,1,20));
        addBlock(new ToServo(throttleCh));
    }
};

AP_Controller * controller;
Vector<AP_RcChannel * > ch;

AP_Float heading, velocity; // measurements
AP_Float headingCommand, velocityCommand; // guidance data
int8_t sign = 1;
float value = 0;

enum keys
{
    config,
    chStrKey,
    chThrKey,
    pidStrKey,
    pidThrKey
}; 

void setup()
{
    Serial.begin(115200);

    // variables
    heading = 0;
    velocity = 0;
    headingCommand = 0;
    velocityCommand = 0;

    // rc channels
    APM_RC.Init();
    ch.push_back(new AP_RcChannel(chStrKey,PSTR("STR"),APM_RC,1,45));
    ch.push_back(new AP_RcChannel(chThrKey,PSTR("THR"),APM_RC,2,45));

    // controller
    controller = new CarController(pidStrKey,pidThrKey,heading,velocity,headingCommand,velocityCommand,ch[0],ch[1]);
}

void loop()
{
    // loop rate 20 Hz
    delay(1000.0/20);

    // feedback signal, 1/3 Hz sawtooth
    if (value > 1)
    {
        value = 1;
        sign = -1;
    } 
    else if (value < -1)
    {
        value = -1;
        sign = 1;
    }
    value += sign/20.0/3.0;
    velocity = value;
    heading = value;

    // update controller
    controller->update(1./20);

    // output
    Serial.printf("hdng:%f\tcmd:(%f)\tservo:%f\t", heading.get(),headingCommand.get(), ch[0]->getNormalized());
    Serial.printf("| thr:%f\tcmd:(%f)\tservo:%f\n", velocity.get(), velocityCommand.get(), ch[1]->getNormalized());
}

// vim:ts=4:sw=4:expandtab