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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;

}