#ifndef AMIRO_LINEFOLLOWING_H
#define AMIRO_LINEFOLLOWING_H

#include <ch.hpp>
#include "global.hpp"
#include <amiroosconf.h>

#define RAND_TRESH 16000

namespace amiro {
  
  enum LineFollowStrategy{
  EDGE_LEFT,
  TRANSITION_L_R,
  TRANSITION_R_L,
  EDGE_RIGHT,
  REVERSE,
  MIDDLE,
  FUZZY,
  NONE
  };

enum colorMember : uint8_t {
	BLACK=0,
	GREY=1,
	WHITE=2
};

class LineFollow
{
public:

  // TODO: Documentation
  int biggestDiff = 0;
  Global *global;
  LineFollow(Global *global);
  LineFollow(Global *global, LineFollowStrategy strategy);
  int followLine(int (&rpmSpeed)[2]);
  void setStrategy(LineFollowStrategy strategy);
  void promptStrategyChange(LineFollowStrategy strategy);
  LineFollowStrategy getStrategy();
  void setGains(float Kp, float Ki, float Kd);


  const int rpmTurnLeft[2] = {-10, 10};
  const int rpmTurnRight[2] = {rpmTurnLeft[1],rpmTurnLeft[0]};
  const int rpmHalt[2] = {0, 0};
  // Definition of the fuzzyfication function
  //  | Membership
  // 1|_B__   G    __W__
  //  |    \  /\  /
  //  |     \/  \/
  //  |_____/\__/\______ Sensor values
  // SEE MATLAB SCRIPT "fuzzyRule.m" for adjusting the values
  // All values are "raw sensor values"
  /* Use these values for white ground surface (e.g. paper) */

  const int blackStartFalling = 0x1000; // Where the black curve starts falling
  const int blackOff = 0x1800; // Where no more black is detected
  const int whiteStartRising = 0x2800; // Where the white curve starts rising
  const int whiteOn = 0x6000; // Where the white curve has reached the maximum value
  const int greyMax = (whiteOn + blackStartFalling) / 2; // Where grey has its maximum
  const int greyStartRising = blackStartFalling; // Where grey starts rising
  const int greyOff = whiteOn; // Where grey is completely off again

  private:
    int delta();
    int getError();
    int transitionError(int FL, int FR, int targetL, int targetR);
    int getPidCorrectionSpeed();
    void lineFollowing(int (&proximity)[4], int (&rpmFuzzyCtrl)[2]);
    // void defuzz(colorMember (&member)[4], int (&rpmFuzzyCtrl)[2]);
    Color memberToLed(colorMember member);
    void defuzzyfication(colorMember (&member)[4], int (&rpmFuzzyCtrl)[2]);
    colorMember getMember(float (&fuzzyValue)[3]);
    void fuzzyfication(int sensorValue, float (&fuzziedValue)[3]);
    void copyRpmSpeed(const int (&source)[2], int (&target)[2]);

    char whiteFlag = 0;
    LineFollowStrategy strategy = LineFollowStrategy::EDGE_RIGHT;
    float K_p = 0.002;
    float K_i = 0;
    float K_d = 0;
    int accumHist = 0;
    float oldError = 0;
    int trans = 0;
    int vcnl4020AmbientLight[4] = {0};
    int vcnl4020Proximity[4] = {0};
};



} // end of namespace amiro

#endif // AMIRO_LINEFOLLOWING_H