#include "Arduino.h"
#include "behaviour.h"

SimplexNoise sn;


Mood mood;

float matrix_weights_main[SERVO_COUNT_MAIN][WEIGHT_COUNT]; //mapping outputs, sensors/moods
float matrix_weights_peripheralL[SERVO_COUNT_PERIPHERAL][WEIGHT_COUNT]; 
float matrix_weights_peripheralR[SERVO_COUNT_PERIPHERAL][WEIGHT_COUNT]; 


void updateMood(unsigned long millis,float gyroX,float gyroY,float gyroZ,bool bellyup, bool body_present, bool contact_main, bool contact_peripheralL, bool contact_peripheralR,float height,float temp_ambient,float temp_object,float pumpspeed, float servoerror) {
  static unsigned long last_mood_update=0;
  if (millis-last_mood_update>MOOD_UPDATE_INTERVAL) {
    last_mood_update=millis;
    mood.arousal=0;
    mood.valence=0;
  }
}

void updateMatrixWeights(unsigned long millis,bool bellyup, bool body_present, bool contact_main, bool contact_peripheralL, bool contact_peripheralR, float pitch, float roll){
  
  static unsigned long last_weights_update=0;
  if (millis-last_weights_update>WEIGHT_UPDATE_INTERVAL) {
    last_weights_update=millis;

    

    
    //### Update Mode ###
    static float map_mode_rollpitch=0;
    static float map_mode_walking=0;
    static float map_mode_sleeping=0;
    static float map_mode_noise=0;

    float aim_map_mode_rollpitch=0;
    float aim_map_mode_walking=0;
    float aim_map_mode_sleeping=0;
    float aim_map_mode_noise=0;

    

    if (body_present) { //attached     
      aim_map_mode_rollpitch=1.0;

    }else{ //detached
      if (bellyup) { //belly up
        aim_map_mode_walking=1.0;
      }else{ //sitting on a level survace
        aim_map_mode_noise=1.0;
      }
    }
    
    map_mode_rollpitch=interpolateTo(map_mode_rollpitch,aim_map_mode_rollpitch,WEIGHT_UPDATE_INTERVAL/1000.0,0.3);
    map_mode_walking=interpolateTo(map_mode_walking,aim_map_mode_walking,WEIGHT_UPDATE_INTERVAL/1000.0,0.3);
    map_mode_sleeping=interpolateTo(map_mode_sleeping,aim_map_mode_sleeping,WEIGHT_UPDATE_INTERVAL/1000.0,0.3);
    map_mode_noise=interpolateTo(map_mode_noise,aim_map_mode_noise,WEIGHT_UPDATE_INTERVAL/1000.0,0.3);


    /*
    Serial.print("Walking: \t"); Serial.println(map_mode_walking);
    Serial.print("RollPitch: \t"); Serial.println(map_mode_rollpitch);
    Serial.print("Sleeping: \t"); Serial.println(map_mode_sleeping);
    Serial.print("Noise: \t"); Serial.println(map_mode_noise);
    Serial.println();
    */

    float map_sum=map_mode_walking+map_mode_rollpitch+map_mode_sleeping+map_mode_noise;
    map_mode_walking/=map_sum;
    map_mode_rollpitch/=map_sum;
    map_mode_sleeping/=map_sum;
    map_mode_noise/=map_sum; //divide mapping so the sum will be 1.0


    analogWrite(PIN_VIBRATION,contact_main*map_mode_noise*64); //TODO, remove
    

    //reset all weights
    for (uint8_t i=0;i<SERVO_COUNT_MAIN;i++) {
      for (uint8_t w=0;w<WEIGHT_COUNT;w++) {
        matrix_weights_main[i][w]=0;
      }
    }
    for (uint8_t i=0;i<SERVO_COUNT_PERIPHERAL;i++) {
      for (uint8_t w=0;w<WEIGHT_COUNT;w++) {
        matrix_weights_peripheralL[i][w]=0;
        matrix_weights_peripheralR[i][w]=0;
      }
    }
    
    //Mode Noise
    matrix_weights_main[0][W_NOISE]+=30.0 *map_mode_noise;
    matrix_weights_main[0][W_NOISESLOW]+=0.0 *map_mode_noise;
    
    matrix_weights_main[1][W_NOISE]+=30.0 *map_mode_noise;
    matrix_weights_main[1][W_NOISESLOW]+=20.0 *map_mode_noise;
    
    matrix_weights_main[2][W_NOISE]+=20.0 *map_mode_noise;
    matrix_weights_main[2][W_NOISESLOW]+=30.0 *map_mode_noise;
    

    
    //Mode Roll Pitch
    matrix_weights_main[0][W_PITCH]+=1.0* map_mode_rollpitch; 
    matrix_weights_main[1][W_ROLL]+=1.0* map_mode_rollpitch;  
    matrix_weights_main[2][W_PITCH]+=1.0* map_mode_rollpitch; 

    //Mode Walking
    matrix_weights_main[0][W_NOISESLOW]+=5 *map_mode_walking;
    matrix_weights_main[0][W_SIN]+=10 *map_mode_walking;
    matrix_weights_main[0][W_OFFSET]+=-60 *map_mode_walking;
    matrix_weights_main[1][W_NOISESLOW]+=30 *map_mode_walking;
    matrix_weights_main[2][W_COS]+=-20 *map_mode_walking;
    matrix_weights_main[2][W_OFFSET]+=70 *map_mode_walking;
    
    
    //Mode Sleeping
    matrix_weights_main[0][W_NOISESLOW]+=20 *map_mode_sleeping;
    matrix_weights_main[1][W_NOISESLOW]+=20 *map_mode_sleeping;
    matrix_weights_main[2][W_NOISESLOW]+=30 *map_mode_sleeping;

  }
}


void updateServosByWeights(unsigned long millis,float pitch,float roll){
  static unsigned long last_servoweights_update=0;
  if (millis-last_servoweights_update>SERVOWEIGHT_UPDATE_INTERVAL) 
  {
    last_servoweights_update=millis;
    static unsigned long millis_add;
    #define MILLISADD_MIN SERVOWEIGHT_UPDATE_INTERVAL*0.5
    #define MILLISADD_MAX SERVOWEIGHT_UPDATE_INTERVAL*2
    millis_add+=constrain(mapfloat(mood.arousal, -0.5,0.5 ,MILLISADD_MIN,MILLISADD_MAX),MILLISADD_MIN,MILLISADD_MAX);


    float vsin=sin((millis_add)/1000.0);
    float vcos=cos((millis_add)/1000.0);
    
    for (uint8_t i=0;i<SERVO_COUNT;i++) {
      uint8_t servoPosInMatrix=0;

      
      float pnoise=sn.noise((millis()+millis_add)/5000.0,i*10); //simplexnoise -1 to 1
      float pnoiseslow=sn.noise((millis()+millis_add)/50000.0,i*10); //simplexnoise -1 to 1

      pitch=constrain(pitch,-80,80);
      roll=constrain(roll,-80,80);
      

      float angle=0;

      float lookdirection=(servos[i].angle>=0)?1:-1; //if angle positive, 1, else 0
      
      
      

      if (i<SERVO_COUNT_MAIN) { //Main
        /*if (i==0){
          Serial.print("servoangle:");Serial.println(servos[i].angle);
          Serial.print("lookdirection:");Serial.println(lookdirection);
          Serial.print("weight:");Serial.println(matrix_weights_main[i][W_LOOKDIRECTION]);


                    
        }*/

        servoPosInMatrix=i;
        angle=
          pitch*matrix_weights_main[servoPosInMatrix][W_PITCH]
          +roll*matrix_weights_main[servoPosInMatrix][W_ROLL]
          +pnoise*matrix_weights_main[servoPosInMatrix][W_NOISE]
          +pnoiseslow*matrix_weights_main[servoPosInMatrix][W_NOISESLOW]
          +vsin*matrix_weights_main[servoPosInMatrix][W_SIN]
          +vcos*matrix_weights_main[servoPosInMatrix][W_COS]
          +lookdirection*matrix_weights_main[servoPosInMatrix][W_LOOKDIRECTION]
          +1.0*matrix_weights_main[servoPosInMatrix][W_OFFSET];
        
      }else if(i<SERVO_COUNT_MAIN+SERVO_COUNT_PERIPHERAL) { //Peripheral Left
        servoPosInMatrix=i-3;
      }else if(i<SERVO_COUNT_MAIN+2*SERVO_COUNT_PERIPHERAL) { //Peripheral Right
        servoPosInMatrix=i-2*3;

      }
      
      servos[i].angle=angle;
      
    }
  }
  
}


float interpolateTo(float value,float aimvalue,float timestep,float speed) 
{
  float result=value;
  if (result<aimvalue){
    result=result+timestep*speed;
    if (result>aimvalue) {
      result=aimvalue;
    }
  }else if (result>aimvalue){
    result=result-timestep*speed;
    if (result<aimvalue) {
      result=aimvalue;
    }
  }
  return result;
}


float mapfloat(float x, float in_min, float in_max, float out_min, float out_max)
{
  return (float)(x - in_min) * (out_max - out_min) / (float)(in_max - in_min) + out_min;
}