/*******************************************************************************
                                                                       
 Module:       FGState.cpp
 Author:       Jon Berndt
 Date started: 11/17/98
 Called by:    FGFDMExec and accessed by all models.

 ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------

 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.

 Further information about the GNU General Public License can also be found on
 the world wide web at http://www.gnu.org.

FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
See header file.

HISTORY
--------------------------------------------------------------------------------
11/17/98   JSB   Created

********************************************************************************
INCLUDES
*******************************************************************************/

#ifdef FGFS
#  include <simgear/compiler.h>
#  ifdef FG_HAVE_STD_INCLUDES
#    include <cmath>
#  else
#    include <math.h>
#  endif
#else
#  include <cmath>
#endif

#include "FGState.h"
#include "FGFDMExec.h"
#include "FGAtmosphere.h"
#include "FGFCS.h"
#include "FGAircraft.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGPosition.h"
#include "FGAuxiliary.h"
#include "FGOutput.h"

/*******************************************************************************
************************************ CODE **************************************
*******************************************************************************/


FGState::FGState(FGFDMExec* fdex) : mTb2l(3,3),
                                    mTl2b(3,3),
                                    mTs2b(3,3),
                                    vQtrn(4)
{
  FDMExec = fdex;

  adot = bdot = 0.0;
  a = 1000.0;
  sim_time = 0.0;
  dt = 1.0/120.0;

  coeffdef["FG_QBAR"]          = 1           ;
  coeffdef["FG_WINGAREA"]      = 2           ;
  coeffdef["FG_WINGSPAN"]      = 4           ;
  coeffdef["FG_CBAR"]          = 8           ;
  coeffdef["FG_ALPHA"]         = 16          ;
  coeffdef["FG_ALPHADOT"]      = 32          ;
  coeffdef["FG_BETA"]          = 64          ;
  coeffdef["FG_BETADOT"]       = 128         ;
  coeffdef["FG_PITCHRATE"]     = 256         ;
  coeffdef["FG_ROLLRATE"]      = 512         ;
  coeffdef["FG_YAWRATE"]       = 1024        ;
  coeffdef["FG_MACH"]          = 2048        ;
  coeffdef["FG_ALTITUDE"]      = 4096        ;
  coeffdef["FG_BI2VEL"]        = 8192        ;
  coeffdef["FG_CI2VEL"]        = 16384       ;
  coeffdef["FG_ELEVATOR_POS"]  = 32768L      ;
  coeffdef["FG_AILERON_POS"]   = 65536L      ;
  coeffdef["FG_RUDDER_POS"]    = 131072L     ;
  coeffdef["FG_SPDBRAKE_POS"]  = 262144L     ;
  coeffdef["FG_SPOILERS_POS"]  = 524288L     ;
  coeffdef["FG_FLAPS_POS"]     = 1048576L    ;
  coeffdef["FG_ELEVATOR_CMD"]  = 2097152L    ;
  coeffdef["FG_AILERON_CMD"]   = 4194304L    ;
  coeffdef["FG_RUDDER_CMD"]    = 8388608L    ;
  coeffdef["FG_SPDBRAKE_CMD"]  = 16777216L   ;
  coeffdef["FG_SPOILERS_CMD"]  = 33554432L   ;
  coeffdef["FG_FLAPS_CMD"]     = 67108864L   ;
  coeffdef["FG_SPARE3"]        = 134217728L  ;
  coeffdef["FG_SPARE4"]        = 268435456L  ;
  coeffdef["FG_SPARE5"]        = 536870912L  ;
  coeffdef["FG_SPARE6"]        = 1073741824L ;
}

/******************************************************************************/

FGState::~FGState(void)
{
}

//***************************************************************************
//
// Reset: Assume all angles READ FROM FILE IN DEGREES !!
//

bool FGState::Reset(string path, string acname, string fname)
{
  string resetDef;
  float U, V, W;
  float phi, tht, psi;
  float latitude, longitude, h;

  resetDef = path + "/" + acname + "/" + fname;

  ifstream resetfile(resetDef.c_str());

  if (resetfile) {
    resetfile >> U;
    resetfile >> V;
    resetfile >> W;
    resetfile >> latitude;
    resetfile >> longitude;
    resetfile >> phi;
    resetfile >> tht;
    resetfile >> psi;
    resetfile >> h;
    resetfile.close();

    FDMExec->GetPosition()->SetLatitude(latitude*DEGTORAD);
    FDMExec->GetPosition()->SetLongitude(longitude*DEGTORAD);
    FDMExec->GetPosition()->Seth(h);

    Initialize(U, V, W, phi*DEGTORAD, tht*DEGTORAD, psi*DEGTORAD,
               latitude*DEGTORAD, longitude*DEGTORAD, h);

    return true;
  } else {
    cerr << "Unable to load reset file " << fname << endl;
    return false;
  }
}

//***************************************************************************
//
// Initialize: Assume all angles GIVEN IN RADIANS !!
//

void FGState::Initialize(float U, float V, float W,
                         float phi, float tht, float psi,
                         float Latitude, float Longitude, float H)
{
  FGColumnVector vUVW(3);
  FGColumnVector vLocalVelNED(3);
  FGColumnVector vEuler(3);
  float alpha, beta, gamma;
  float qbar, Vt;

  FDMExec->GetPosition()->SetLatitude(Latitude*DEGTORAD);
  FDMExec->GetPosition()->SetLongitude(Longitude*DEGTORAD);
  FDMExec->GetPosition()->Seth(H);

  FDMExec->GetAtmosphere()->Run();

  gamma = 0.0;
  if (W != 0.0)
    alpha = U*U > 0.0 ? atan2(W, U) : 0.0;
  else
    alpha = 0.0;
  if (V != 0.0)
    beta = U*U+W*W > 0.0 ? atan2(V, (fabs(U)/U)*sqrt(U*U + W*W)) : 0.0;
  else
    beta = 0.0;

  vUVW << U << V << W;
  FDMExec->GetTranslation()->SetUVW(vUVW);

  vEuler << phi << tht << psi;
  FDMExec->GetRotation()->SetEuler(vEuler);

  FDMExec->GetTranslation()->SetABG(alpha, beta, gamma);

  Vt = sqrt(U*U + V*V + W*W);
  FDMExec->GetTranslation()->SetVt(Vt);

  qbar = 0.5*(U*U + V*V + W*W)*FDMExec->GetAtmosphere()->GetDensity();
  FDMExec->GetTranslation()->Setqbar(qbar);

  InitMatrices(phi, tht, psi);

  vLocalVelNED = mTb2l*vUVW;
  FDMExec->GetPosition()->SetvVel(vLocalVelNED);
}

/******************************************************************************/

void FGState::Initialize(FGInitialCondition *FGIC)
{

  float tht,psi,phi;
  float U, V, W, h;
  float latitude, longitude;

  latitude = FGIC->GetLatitudeRadIC();
  longitude = FGIC->GetLongitudeRadIC();
  h = FGIC->GetAltitudeFtIC();
  U = FGIC->GetUBodyFpsIC();
  V = FGIC->GetVBodyFpsIC();
  W = FGIC->GetWBodyFpsIC();
  tht = FGIC->GetThetaRadIC();
  phi = FGIC->GetPhiRadIC();
  psi = FGIC->GetPsiRadIC();

  Initialize(U, V, W, phi, tht, psi, latitude, longitude, h);
}

/******************************************************************************/

bool FGState::StoreData(string fname)
{
  ofstream datafile(fname.c_str());

  if (datafile) {
    datafile << (FDMExec->GetTranslation()->GetUVW())(1);
    datafile << (FDMExec->GetTranslation()->GetUVW())(2);
    datafile << (FDMExec->GetTranslation()->GetUVW())(3);
    datafile << FDMExec->GetPosition()->GetLatitude();
    datafile << FDMExec->GetPosition()->GetLongitude();
    datafile << (FDMExec->GetRotation()->GetEuler())(1);
    datafile << (FDMExec->GetRotation()->GetEuler())(2);
    datafile << (FDMExec->GetRotation()->GetEuler())(3);
    datafile << FDMExec->GetPosition()->Geth();
    datafile.close();
    return true;
  } else {
    cerr << "Could not open dump file " << fname << endl;
    return false;
  }
}

/******************************************************************************/

float FGState::GetParameter(string val_string)
{
  return GetParameter(coeffdef[val_string]);
}

/******************************************************************************/

int FGState::GetParameterIndex(string val_string)
{
  return coeffdef[val_string];
}

/******************************************************************************/
//
// NEED WORK BELOW TO ADD NEW PARAMETERS !!!
//
float FGState::GetParameter(int val_idx)
{
  switch(val_idx) {
  case FG_QBAR:
    return FDMExec->GetTranslation()->Getqbar();
  case FG_WINGAREA:
    return FDMExec->GetAircraft()->GetWingArea();
  case FG_WINGSPAN:
    return FDMExec->GetAircraft()->GetWingSpan();
  case FG_CBAR:
    return FDMExec->GetAircraft()->Getcbar();
  case FG_ALPHA:
    return FDMExec->GetTranslation()->Getalpha();
  case FG_ALPHADOT:
    return Getadot();
  case FG_BETA:
    return FDMExec->GetTranslation()->Getbeta();
  case FG_BETADOT:
    return Getbdot();
  case FG_PITCHRATE:
    return (FDMExec->GetRotation()->GetPQR())(2);
  case FG_ROLLRATE:
    return (FDMExec->GetRotation()->GetPQR())(1);
  case FG_YAWRATE:
    return (FDMExec->GetRotation()->GetPQR())(3);
  case FG_ELEVATOR_POS:
    return FDMExec->GetFCS()->GetDePos();
  case FG_AILERON_POS:
    return FDMExec->GetFCS()->GetDaPos();
  case FG_RUDDER_POS:
    return FDMExec->GetFCS()->GetDrPos();
  case FG_SPDBRAKE_POS:
    return FDMExec->GetFCS()->GetDsbPos();
  case FG_SPOILERS_POS:
    return FDMExec->GetFCS()->GetDspPos();
  case FG_FLAPS_POS:
    return FDMExec->GetFCS()->GetDfPos();
  case FG_ELEVATOR_CMD:
    return FDMExec->GetFCS()->GetDeCmd();
  case FG_AILERON_CMD:
    return FDMExec->GetFCS()->GetDaCmd();
  case FG_RUDDER_CMD:
    return FDMExec->GetFCS()->GetDrCmd();
  case FG_SPDBRAKE_CMD:
    return FDMExec->GetFCS()->GetDsbCmd();
  case FG_SPOILERS_CMD:
    return FDMExec->GetFCS()->GetDspCmd();
  case FG_FLAPS_CMD:
    return FDMExec->GetFCS()->GetDfCmd();
  case FG_MACH:
    return FDMExec->GetTranslation()->GetMach();
  case FG_ALTITUDE:
    return FDMExec->GetPosition()->Geth();
  case FG_BI2VEL:
    return FDMExec->GetAircraft()->GetWingSpan()/(2.0 * FDMExec->GetTranslation()->GetVt());
  case FG_CI2VEL:
    return FDMExec->GetAircraft()->Getcbar()/(2.0 * FDMExec->GetTranslation()->GetVt());
  }
  return 0;
}

/******************************************************************************/

void FGState::SetParameter(int val_idx, float val)
{
  switch(val_idx) {
  case FG_ELEVATOR_POS:
    FDMExec->GetFCS()->SetDePos(val);
    break;
  case FG_AILERON_POS:
    FDMExec->GetFCS()->SetDaPos(val);
    break;
  case FG_RUDDER_POS:
    FDMExec->GetFCS()->SetDrPos(val);
    break;
  case FG_SPDBRAKE_POS:
    FDMExec->GetFCS()->SetDrPos(val);
    break;
  case FG_SPOILERS_POS:
    FDMExec->GetFCS()->SetDrPos(val);
    break;
  case FG_FLAPS_POS:
    FDMExec->GetFCS()->SetDrPos(val);
    break;
  }
}

/******************************************************************************/

void FGState::InitMatrices(float phi, float tht, float psi)
{
  float thtd2, psid2, phid2;
  float Sthtd2, Spsid2, Sphid2;
  float Cthtd2, Cpsid2, Cphid2;
  float Cphid2Cthtd2;
  float Cphid2Sthtd2;
  float Sphid2Sthtd2;
  float Sphid2Cthtd2;

  thtd2 = tht/2.0;
  psid2 = psi/2.0;
  phid2 = phi/2.0;

  Sthtd2 = sin(thtd2);
  Spsid2 = sin(psid2);
  Sphid2 = sin(phid2);

  Cthtd2 = cos(thtd2);
  Cpsid2 = cos(psid2);
  Cphid2 = cos(phid2);

  Cphid2Cthtd2 = Cphid2*Cthtd2;
  Cphid2Sthtd2 = Cphid2*Sthtd2;
  Sphid2Sthtd2 = Sphid2*Sthtd2;
  Sphid2Cthtd2 = Sphid2*Cthtd2;

  vQtrn(1) = Cphid2Cthtd2*Cpsid2 + Sphid2Sthtd2*Spsid2;
  vQtrn(2) = Sphid2Cthtd2*Cpsid2 - Cphid2Sthtd2*Spsid2;
  vQtrn(3) = Cphid2Sthtd2*Cpsid2 + Sphid2Cthtd2*Spsid2;
  vQtrn(4) = Cphid2Cthtd2*Spsid2 - Sphid2Sthtd2*Cpsid2;

  CalcMatrices();
}

/******************************************************************************/

void FGState::CalcMatrices(void)
{
  float Q0Q0, Q1Q1, Q2Q2, Q3Q3;
  float Q0Q1, Q0Q2, Q0Q3, Q1Q2;
  float Q1Q3, Q2Q3;

  Q0Q0 = vQtrn(1)*vQtrn(1);
  Q1Q1 = vQtrn(2)*vQtrn(2);
  Q2Q2 = vQtrn(3)*vQtrn(3);
  Q3Q3 = vQtrn(4)*vQtrn(4);
  Q0Q1 = vQtrn(1)*vQtrn(2);
  Q0Q2 = vQtrn(1)*vQtrn(3);
  Q0Q3 = vQtrn(1)*vQtrn(4);
  Q1Q2 = vQtrn(2)*vQtrn(3);
  Q1Q3 = vQtrn(2)*vQtrn(4);
  Q2Q3 = vQtrn(3)*vQtrn(4);

  mTb2l(1,1) = Q0Q0 + Q1Q1 - Q2Q2 - Q3Q3;
  mTb2l(1,2) = 2*(Q1Q2 + Q0Q3);
  mTb2l(1,3) = 2*(Q1Q3 - Q0Q2);
  mTb2l(2,1) = 2*(Q1Q2 - Q0Q3);
  mTb2l(2,2) = Q0Q0 - Q1Q1 + Q2Q2 - Q3Q3;
  mTb2l(2,3) = 2*(Q2Q3 + Q0Q1);
  mTb2l(3,1) = 2*(Q1Q3 + Q0Q2);
  mTb2l(3,2) = 2*(Q2Q3 - Q0Q1);
  mTb2l(3,3) = Q0Q0 - Q1Q1 - Q2Q2 + Q3Q3;

  mTl2b = mTb2l;
  mTl2b.T();
}

/******************************************************************************/

void FGState::IntegrateQuat(FGColumnVector vPQR, int rate)
{
  static FGColumnVector vlastQdot(4);
  static FGColumnVector vQdot(4);

  vQdot(1) = -0.5*(vQtrn(2)*vPQR(eP) + vQtrn(3)*vPQR(eQ) + vQtrn(4)*vPQR(eR));
  vQdot(2) =  0.5*(vQtrn(1)*vPQR(eP) + vQtrn(3)*vPQR(eR) - vQtrn(4)*vPQR(eQ));
  vQdot(3) =  0.5*(vQtrn(1)*vPQR(eQ) + vQtrn(4)*vPQR(eP) - vQtrn(2)*vPQR(eR));
  vQdot(4) =  0.5*(vQtrn(1)*vPQR(eR) + vQtrn(2)*vPQR(eQ) - vQtrn(3)*vPQR(eP));

  vQtrn += 0.5*dt*rate*(vlastQdot + vQdot);

  vQtrn.Normalize();

  vlastQdot = vQdot;
}

/******************************************************************************/

FGColumnVector FGState::CalcEuler(void)
{
  static FGColumnVector vEuler(3);

  if (mTb2l(3,3) == 0)    vEuler(ePhi) = 0.0;
  else                    vEuler(ePhi) = atan2(mTb2l(2,3), mTb2l(3,3));

  vEuler(eTht) = asin(-mTb2l(1,3));

  if (mTb2l(1,1) == 0.0)  vEuler(ePsi) = 0.0;
  else                    vEuler(ePsi) = atan2(mTb2l(1,2), mTb2l(1,1));

  if (vEuler(ePsi) < 0.0) vEuler(ePsi) += 2*M_PI;

  return vEuler;
}

/******************************************************************************/

FGMatrix FGState::GetTs2b(float alpha, float beta)
{
  float ca, cb, sa, sb;

  ca = cos(alpha);
  sa = sin(alpha);
  cb = cos(beta);
  sb = sin(beta);

  mTs2b(1,1) = -ca*cb;
  mTs2b(1,2) = -ca*sb;
  mTs2b(1,3) = sa;
  mTs2b(2,1) = sb;
  mTs2b(2,2) = cb;
  mTs2b(2,3) = 0.0;
  mTs2b(3,1) = -sa*cb;
  mTs2b(3,2) = -sa*sb;
  mTs2b(3,3) = -ca;

  return mTs2b;
}

/******************************************************************************/