/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "ArExport.h"
#include "ariaOSDef.h"
#include "ArInterpolation.h"

AREXPORT ArInterpolation::ArInterpolation(size_t numberOfReadings)
{
  mySize = numberOfReadings;
  myDataMutex.setLogName("ArInterpolation");
  setAllowedMSForPrediction();
  setAllowedPercentageForPrediction();
  setLogPrediction();
}

AREXPORT ArInterpolation::~ArInterpolation()
{

}

AREXPORT bool ArInterpolation::addReading(ArTime timeOfReading, 
					  ArPose position)
{
  myDataMutex.lock();
  if (myTimes.size() >= mySize)
  {
    myTimes.pop_back();
    myPoses.pop_back();
  }
  myTimes.push_front(timeOfReading);
  myPoses.push_front(position);
  myDataMutex.unlock();
  return true;
}

/**
   @param timeStamp the time we are interested in
   @param position the pose to set to the given position

   @param mostRecent the most recent data in the interpolation relevant to this call... for a return of 1 this is the near side it interpolated between, for a return of 0 or 1 this is the most recent data in the interpolation.... this is only useful if the return is 1, 0, or -1, and is mostly for use with ArRobot::applyEncoderOffset 

   @return 1 its good interpolation, 0 its predicting, -1 its too far to 
   predict, -2 its too old, -3 there's not enough data to predict
   
**/

AREXPORT int ArInterpolation::getPose(
	ArTime timeStamp, ArPose *position, ArPoseWithTime *mostRecent)
{
  std::list<ArTime>::iterator tit;
  std::list<ArPose>::iterator pit;
  
  ArPose thisPose;
  ArTime thisTime;
  ArPose lastPose;
  ArTime lastTime;

  // MPL don't use nowtime, use the time stamp that was passed in...
  // that was bad
  //ArTime nowTime;
  long total;
  long toStamp;
  double percentage;
  ArPose retPose;
  
  myDataMutex.lock();
  // find the time we want
  for (tit = myTimes.begin(), pit = myPoses.begin();
       tit != myTimes.end() && pit != myPoses.end(); 
       ++tit, ++pit)
  {
    lastTime = thisTime;
    lastPose = thisPose;

    thisTime = (*tit);
    thisPose = (*pit);

    //printf("## %d %d %d b %d at %d after %d\n", timeStamp.getMSec(), thisTime.getMSec(), timeStamp.mSecSince(thisTime), timeStamp.isBefore(thisTime), timeStamp.isAt(thisTime), timeStamp.isAfter(thisTime));
    //if (timeStamp.isBefore(thisTime) || timeStamp.isAt(thisTime))
    if (!timeStamp.isAfter(thisTime))
    {
      //printf("Found one!\n");
      break;
    } 

  }

  if (mostRecent != NULL)
  {
    mostRecent->setPose(thisPose);
    mostRecent->setTime(thisTime);
  }
    

  // if we're at the end then it was too long ago
  if (tit == myTimes.end() || pit == myPoses.end())
  {
    //printf("Too old\n");
    myDataMutex.unlock();
    return -2;
  }
  
  // this is for forecasting (for the brave)
  if ((tit == myTimes.begin() || pit == myPoses.begin()) && 
      !timeStamp.isAt((*tit)))
  {
    //printf("Too new %d %d\n", tit == myTimes.begin(), pit == myPoses.begin());
  
    thisTime = (*tit);
    thisPose = (*pit);
    tit++;
    pit++;  
    if (tit == myTimes.end() || pit == myPoses.end())
    {
      //printf("Not enough data\n");
      myDataMutex.unlock();
      return -3;
    }
    lastTime = (*tit);
    lastPose = (*pit);

    // MPL don't use nowtime, use the time stamp that was passed in...
    //nowTime.setToNow();
    total = thisTime.mSecSince(lastTime);
    if (total == 0)
      total = 100;
    // MPL don't use nowtime, use the time stamp that was passed in...
    //toStamp = nowTime.mSecSince(thisTime);
    toStamp = timeStamp.mSecSince(thisTime);
    percentage = (double)toStamp/(double)total;
    //if (percentage > 50)
    if (myAllowedPercentageForPrediction >= 0 && 
	percentage * 100 > myAllowedPercentageForPrediction)
    {
      if (myLogPrediction)
	ArLog::log(ArLog::Normal, "%s: returningPercentage Total time %d, to stamp %d, percentage %.2f (allowed %d)", getName(), total, toStamp, percentage * 100, myAllowedPercentageForPrediction);
      
      myDataMutex.unlock();
      return -1;
    }

    if (myAllowedMSForPrediction >= 0 && 
	abs(toStamp) > myAllowedMSForPrediction)
    {
    if (myLogPrediction)
      ArLog::log(ArLog::Normal, "%s: returningMS Total time %d, to stamp %d, percentage %.2f (allowed %d)", getName(), total, toStamp, percentage * 100,
	  myAllowedMSForPrediction);
    
      myDataMutex.unlock();
      return -1;
    }

    if (myLogPrediction)
      ArLog::log(ArLog::Normal, "%s: Total time %d, to stamp %d, percentage %.2f (allowed %d)", getName(), total, toStamp, percentage * 100,
		 myAllowedPercentageForPrediction);

    retPose.setX(thisPose.getX() + 
		 (thisPose.getX() - lastPose.getX()) * percentage);
    retPose.setY(thisPose.getY() + 
		 (thisPose.getY() - lastPose.getY()) * percentage);
    retPose.setTh(ArMath::addAngle(thisPose.getTh(),
				   ArMath::subAngle(thisPose.getTh(),
						    lastPose.getTh())
				   * percentage));

    if (retPose.findDistanceTo(thisPose) > 1000)
      ArLog::log(ArLog::Normal, "%s: finaldist %.0f thislastdist %.0f Total time %d, to stamp %d, percentage %.2f", getName(), 
		 retPose.findDistanceTo(thisPose), thisPose.findDistanceTo(lastPose), total, toStamp, percentage * 100);


    *position = retPose;
    myDataMutex.unlock();
    return 0;
  }

  // this is the actual interpolation

  //printf("Woo hoo!\n");

  total = thisTime.mSecSince(lastTime);
  toStamp = thisTime.mSecSince(timeStamp);
  percentage = (double)toStamp/(double)total;

  if (total == 0)
    percentage = 0;

  //if (total == 0)
  //printf("Total time %d, to stamp %d, percentage %.2f\n", 	 total, toStamp, percentage * 100);

  retPose.setX(thisPose.getX() + 
	       (lastPose.getX() - thisPose.getX()) * percentage); 
  retPose.setY(thisPose.getY() + 
	       (lastPose.getY() - thisPose.getY()) * percentage); 
  retPose.setTh(ArMath::addAngle(thisPose.getTh(),
				 ArMath::subAngle(lastPose.getTh(), 
						  thisPose.getTh())
				 * percentage));
/*
  printf("original:");
  thisPose.log();
  printf("After:");
  lastPose.log();
  printf("ret:");
  retPose.log();
*/
  *position = retPose;
  myDataMutex.unlock();
  return 1;
  
}

AREXPORT size_t ArInterpolation::getNumberOfReadings(void) const
{
  return mySize;
}

AREXPORT void ArInterpolation::setNumberOfReadings(size_t numberOfReadings)
{
  myDataMutex.lock();
  while (myTimes.size() > numberOfReadings)
  {
    myTimes.pop_back();
    myPoses.pop_back();
  }
  mySize = numberOfReadings;  
  myDataMutex.unlock();
}

AREXPORT void ArInterpolation::reset(void)
{
  myDataMutex.lock();
  while (myTimes.size() > 0)
    myTimes.pop_back();
  while (myPoses.size() > 0)
    myPoses.pop_back();
  myDataMutex.unlock();
}

AREXPORT void ArInterpolation::setName(const char *name)
{
  myDataMutex.lock();
  myName = name;
  std::string mutexLogName;
  mutexLogName = myName;
  mutexLogName += "::DataMutex";
  myDataMutex.setLogName(mutexLogName.c_str());
  myDataMutex.unlock();
}

AREXPORT const char * ArInterpolation::getName(void)
{
  return myName.c_str();
}

AREXPORT void ArInterpolation::setAllowedMSForPrediction(int ms)
{
  myDataMutex.lock();
  myAllowedMSForPrediction = ms;
  myDataMutex.unlock();
}

AREXPORT int ArInterpolation::getAllowedMSForPrediction(void)
{
  int ret;
  myDataMutex.lock();
  ret = myAllowedMSForPrediction;
  myDataMutex.unlock();
  return ret;
}

AREXPORT void ArInterpolation::setAllowedPercentageForPrediction(int percentage)
{
  myDataMutex.lock();
  myAllowedPercentageForPrediction = percentage;
  myDataMutex.unlock();
}

AREXPORT int ArInterpolation::getAllowedPercentageForPrediction(void)
{
  int ret;
  myDataMutex.lock();
  ret = myAllowedPercentageForPrediction;
  myDataMutex.unlock();
  return ret;
}

AREXPORT void ArInterpolation::setLogPrediction(bool logPrediction)
{
  myDataMutex.lock();
  myLogPrediction = logPrediction;
  myDataMutex.unlock();
}

AREXPORT bool ArInterpolation::getLogPrediction(void)
{
  bool ret;
  myDataMutex.lock();
  ret = myLogPrediction;
  myDataMutex.unlock();
  return ret;
}