/**
 * @file autopilot.cpp
 * @author Alexander Klein (alex@kleiax.de)
 * @brief 
 * @version 0.1
 * @date 2022-02-02
 * 
 * @copyright Copyright (c) 2022
 * 
 */

#include "driveModi/Modi/Autopilot/autopilot.h"

Autopilot::Autopilot(MoveControl* moveControl, Navigation* navigation)
    : ManualControl(moveControl) {
        this->navigation = navigation;
        this->navigationStarted = this->navigation->startNavigation();
        this->courseCorrection.correction = 0;
        this->courseCorrection.distance = 0;
}

void Autopilot::loop() {
    if (!this->selfDriving)
        ManualControl::loop();

    if (millis() - this->last_millis < delay) {
        return;
    }
    this->runAutopilot();
    this->last_millis = millis();
}

void Autopilot::runAutopilot() {
    this->courseCorrection = this->navigation->getCourseCorrection();
    if (selfDriving) {
        this->setSpeedInRelToDistance(this->courseCorrection.distance);
        this->setRotInRelToDistance(this->courseCorrection.correction);
    }
}

void Autopilot::setSelfDriving(bool val) {
    if (!this->navigationStarted)
        return;

    this->selfDriving = val;
    this->moveControl->setSpeed(0);
    this->moveControl->setRotationspeed(0);
}

void Autopilot::setSpeedInRelToDistance(double distance) {
    // TODO: Delte Magic Numbers
    if (distance > 2)
        this->moveControl->setSpeed(1.5);
    else if (distance < 0.5)
        this->moveControl->setSpeed(1.5);
    else
        this->moveControl->setSpeed(0);
}

void Autopilot::setRotInRelToDistance(int16_t course) {
    // TODO: Delte Magic Numbers
    int8_t steps = course / 30;

    if (steps == 0 && abs(course) >= 5)
        steps = 1;

    if (course == 0)
        this->moveControl->setRotationspeed(0);
    else
        this->moveControl->setRotationspeed(steps);
}