/**
 * @file    alternator_controller.cpp
 * @brief   alternator controller - some newer vehicles control alternator with ECU
 *
 * @date Apr 6, 2014
 * @author Dmitry Sidin
 * @author Andrey Belomutskiy, (c) 2012-2020
 */

#include "pch.h"

#if EFI_ALTERNATOR_CONTROL
#include "alternator_controller.h"
#include "pid.h"
#include "local_version_holder.h"
#include "periodic_task.h"

#if defined(HAS_OS_ACCESS)
#error "Unexpected OS ACCESS HERE"
#endif /* HAS_OS_ACCESS */

static SimplePwm alternatorControl("alt");
static PidIndustrial alternatorPid(&persistentState.persistentConfiguration.engineConfiguration.alternatorControl);

static percent_t currentAltDuty;

static bool currentPlainOnOffState = false;
static bool shouldResetPid = false;

static void pidReset(void) {
	alternatorPid.reset();
}

class AlternatorController : public PeriodicTimerController {
	int getPeriodMs() override {
		return GET_PERIOD_LIMITED(&engineConfiguration->alternatorControl);
	}

	void PeriodicTask() override {
#if ! EFI_UNIT_TEST
		if (shouldResetPid) {
			pidReset();
			shouldResetPid = false;
		}
#endif

		// todo: move this to pid_s one day
		alternatorPid.antiwindupFreq = engineConfiguration->alternator_antiwindupFreq;
		alternatorPid.derivativeFilterLoss = engineConfiguration->alternator_derivativeFilterLoss;

		if (engineConfiguration->debugMode == DBG_ALTERNATOR_PID) {
			// this block could be executed even in on/off alternator control mode
			// but at least we would reflect latest state
#if EFI_TUNER_STUDIO
			alternatorPid.postState(&tsOutputChannels);
#endif /* EFI_TUNER_STUDIO */
		}

		// todo: migrate this to FSIO
		bool alternatorShouldBeEnabledAtCurrentRpm = GET_RPM() > engineConfiguration->cranking.rpm;

		if (!CONFIG(isAlternatorControlEnabled) || !alternatorShouldBeEnabledAtCurrentRpm) {
			// we need to avoid accumulating iTerm while engine is not running
			pidReset();

			// Shut off output if not needed
			alternatorControl.setSimplePwmDutyCycle(0);

			return;
		}

		auto vBatt = Sensor::get(SensorType::BatteryVoltage);
		float targetVoltage = engineConfiguration->targetVBatt;

		if (CONFIG(onOffAlternatorLogic)) {
			if (!vBatt) {
				// Somehow battery voltage isn't valid, disable alternator control
				enginePins.alternatorPin.setValue(false);
			}

			float h = 0.1;
			bool newState = (vBatt.Value < targetVoltage - h) || (currentPlainOnOffState && vBatt.Value < targetVoltage);
			enginePins.alternatorPin.setValue(newState);
			currentPlainOnOffState = newState;
			if (engineConfiguration->debugMode == DBG_ALTERNATOR_PID) {
#if EFI_TUNER_STUDIO
				tsOutputChannels.debugIntField1 = newState;
#endif /* EFI_TUNER_STUDIO */
			}

			return;
		}

		if (!vBatt) {
			// Somehow battery voltage isn't valid, disable alternator control
			alternatorPid.reset();
			alternatorControl.setSimplePwmDutyCycle(0);
		} else {
			currentAltDuty = alternatorPid.getOutput(targetVoltage, vBatt.Value);
			if (CONFIG(isVerboseAlternator)) {
				efiPrintf("alt duty: %.2f/vbatt=%.2f/p=%.2f/i=%.2f/d=%.2f int=%.2f", currentAltDuty, vBatt.Value,
						alternatorPid.getP(), alternatorPid.getI(), alternatorPid.getD(), alternatorPid.getIntegration());
			}

			alternatorControl.setSimplePwmDutyCycle(PERCENT_TO_DUTY(currentAltDuty));
		}
	}
};

static AlternatorController instance;

void showAltInfo(void) {
	efiPrintf("alt=%s @%s t=%dms", boolToString(engineConfiguration->isAlternatorControlEnabled),
			hwPortname(CONFIG(alternatorControlPin)),
			engineConfiguration->alternatorControl.periodMs);
	efiPrintf("p=%.2f/i=%.2f/d=%.2f offset=%.2f", engineConfiguration->alternatorControl.pFactor,
			0, 0, engineConfiguration->alternatorControl.offset); // todo: i & d
	efiPrintf("vbatt=%.2f/duty=%.2f/target=%.2f", Sensor::getOrZero(SensorType::BatteryVoltage), currentAltDuty,
			engineConfiguration->targetVBatt);
}

void setAltPFactor(float p) {
	engineConfiguration->alternatorControl.pFactor = p;
	efiPrintf("setAltPid: %.2f", p);
	pidReset();
	showAltInfo();
}

void onConfigurationChangeAlternatorCallback(engine_configuration_s *previousConfiguration) {
	shouldResetPid = !alternatorPid.isSame(&previousConfiguration->alternatorControl);
}

void initAlternatorCtrl(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
	addConsoleAction("altinfo", showAltInfo);
	if (!isBrainPinValid(CONFIG(alternatorControlPin)))
		return;

	if (!CONFIG(onOffAlternatorLogic)) {
		startSimplePwm(&alternatorControl,
				"Alternator control",
				&engine->executor,
				&enginePins.alternatorPin,
				engineConfiguration->alternatorPwmFrequency, 0);
	}
	instance.Start();
}

// todo: start invoking this method like 'startVvtControlPins'
void startAlternatorPin(void) {

}

void stopAlternatorPin(void) {
	// todo: implementation!
}


#endif /* EFI_ALTERNATOR_CONTROL */