/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX 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, see <http://www.gnu.org/licenses/>.
 *
 * @package    armar7_rt
 * @author     Tobias Gröger ( tobias dot groeger at student dot kit dot edu )
 * @date       2023
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
#pragma once

#include <ArmarXCore/interface/core/BasicTypes.h>
#include "RobotAPI/components/units/RobotUnit/SensorValues/SensorValue1DoFActuator.h"
#include <RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointController.h>
#include <RobotAPI/components/units/RobotUnit/RobotUnit.h>

namespace armarx
{
    struct Params
    {
        std::string kneeJointName;
        std::string hipJointName;
        std::string hipBodyName;
    };

    struct Config
    {
        Params params;
        float kneeAngle;
        float bowAngle;
    };

    // TYPEDEF_PTRS_HANDLE(NJointKneeHipControllerConfig);

    
    TYPEDEF_PTRS_HANDLE(NJointKneeHipController);

    class NJointKneeHipController :
        virtual public armarx::NJointControllerWithTripleBuffer<Config>
    {
    public:
        // using ConfigPtrT = NJointKneeHipControllerPtr;
        using ConfigPtrT = NJointControllerConfigPtr;

        NJointKneeHipController(RobotUnit* robotUnit,
                          const armarx::NJointControllerConfigPtr& config,
                          const VirtualRobot::RobotPtr& /* unused */);

        ~NJointKneeHipController() override;

        // void updateConfig(const ::armarx::aron::data::dto::DictPtr& dto,
        //                   const Ice::Current& iceCurrent = Ice::emptyCurrent) ;
        void onPublish(const SensorAndControl&,
                       const DebugDrawerInterfacePrx&,
                       const DebugObserverInterfacePrx& debugObserver) override;
                       
    protected:
        //
        // NJointControllerInterface interface
        //

        void onInitNJointController() override;

        void onConnectNJointController() override;

        std::string getClassName(const Ice::Current& = Ice::emptyCurrent) const override;

        void rtRun(const IceUtil::Time& sensorValuesTimestamp,
                   const IceUtil::Time& timeSinceLastIteration) override;

        void rtPreActivateController() override;
        void rtPostDeactivateController() override;

        

        // ----------------

    private:
        // rt variables
        VirtualRobot::RobotPtr _rtRobot;
        VirtualRobot::RobotNodePtr _rtKneeNode;
        VirtualRobot::RobotNodePtr _rtHipNode;
        VirtualRobot::RobotNodePtr _rtHipBodyNode;
        const SensorValue1DoFActuatorVelocity* velocitySensor;
        // const SensorValue1DoFActuatorPosition* positionSensor;
        static double calculate_dAnkle_dKnee(double kneeAngle, double shank, double p1, double p2, double p3);
        static double calculate_psi(double kneeAngle, double shank, double p1, double p2, double p3);

        // armarx::ControlTarget1DoFActuatorPosition* _rtKneeCtrlTarget;
        armarx::ControlTarget1DoFActuatorVelocity* _rtHipCtrlTarget;

        struct DebugData
        {
            std::int64_t localTimestamp;

            double kneeAngle;
            double kneeVelocity;
            double hipAngle;
            double hipVelocity;


        };

        TripleBuffer<DebugData> bufferRtToOnPublish_;

    };

} // namespace armarx