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#include <kernel/kern.h>

#include <math.h>

#include "servo.h"

#define LEG_A 10.0

#define LEG_B 10.0

#define LEG_C 2.0

#define LEG_D 3.0

#define LEG_CD_2IPO 2*3.603 // 2*sqrt(LEG_C^2+LEG_D^2)

#define LEG_CD_ANG 33.690 // arctg(LEG_C/LEG_D) in gradi

const double c0 = LEG_C * LEG_C;

const double c1 = LEG_B * LEG_B;

const double c2 = LEG_B * LEG_B - LEG_A * LEG_A;

const double todeg = 180.0 / PI;

int set_leg_position(double px, double py, double pz)

{

  double px2 = px * px;

  double py2 = py * py;

  double pz2 = pz * pz;

  double pxz2 = px2 + pz2;

  int alfa,beta,gamma;

  double alfa1,beta1,alfa2,beta2,gamma1;

  double m,dsqrt;

  double delta_xz = pxz2 - c0;

  double s,k,k2,y1,delta_xy;

  if (delta_xz < 0.0) return -1;

  if (pz >= LEG_C) {

    gamma1 = acos((pz * LEG_C + px * sqrt(delta_xz)) / pxz2) * todeg;

  } else {

    gamma1 = -acos((pz * LEG_C + px * sqrt(delta_xz)) / pxz2) * todeg;

  }

  if (gamma1 < -90.0 || gamma1 > 90.0) return -1;

  m = pxz2 - LEG_CD_2IPO * (sin(gamma+LEG_CD_ANG)+cos(gamma+LEG_CD_ANG));

  s = m + py2;

  k = c2 + s;

  k2 = k * k;

  delta_xy = py2 * k2 - s * (k2 - 4.0 * m * c1);

  if (delta_xy >= 0.0) {

    dsqrt = sqrt(delta_xy);

    y1 = (py * k + dsqrt) / (2.0 * s);

    beta1 = asin(y1/LEG_B) * todeg;

    alfa1 = asin((y1 - py)/LEG_A) * todeg + beta1;

    y1 = (py * k - dsqrt) / (2.0 * s);

    beta2 = asin(y1/LEG_B) * todeg;

    alfa2 = asin((y1 - py)/LEG_A) * todeg + beta2;

    if ((alfa1 >= 0.0 && alfa1 <= 180.0) && (beta1 >= -90.0 && beta1 <= 90.0)) {

      alfa = (int)(alfa1 * 3600.0);

      beta = (int)(beta1 * 3600.0);

      gamma = (int)(gamma1 * 3600.0);

      cprintf("Alfa Sec = %d Beta Sec = %d Gamma Sec = %d\n",alfa,beta,gamma);

      return 0;

    } else if ((alfa2 >= 0.0 && alfa2 <= 180.0) && (beta2 >= -90.0 && beta2 <= 90.0)) {

      alfa = (int)(alfa2 * 3600.0);

      beta = (int)(beta2 * 3600.0);

      gamma = (int)(gamma1 * 3600.0);

      cprintf("Alfa Sec = %d Beta Sec = %d Gamma Sec = %d\n",alfa,beta,gamma);

      return 0;

    } else {

      cprintf("No possible !\n");

      return 1;

    }

  } else

    return 1;

  return 0;

}