/**
	{{##file_header##}}

	This header provides constants used in the software.
*/

#ifndef INC_MIRO_SOFTWARE_CONSTANTS_H
#define INC_MIRO_SOFTWARE_CONSTANTS_H



////////////////////////////////////////////////////////////////
//	WHEELS

//	main drive physical parameters
#define MIRO_WHEEL_DIAMETER_M				0.090f
#define MIRO_WHEEL_TRACK_M					0.164f
#define MIRO_WHEEL_MAX_SPEED_M_PER_S		0.400f

//	parameters derived from the above
#define MIRO_WHEEL_CIRCUMF_M				((3.14159f) * MIRO_WHEEL_DIAMETER_M)
#define MIRO_WHEEL_RADIUS_M					(MIRO_WHEEL_DIAMETER_M * 0.5f)
#define MIRO_WHEEL_HALF_TRACK_M				(MIRO_WHEEL_TRACK_M * 0.5f)
#define MIRO_WHEEL_MAX_ANG_SPEED_RAD_PER_S	(MIRO_WHEEL_MAX_SPEED_M_PER_S / MIRO_WHEEL_HALF_TRACK_M)

//	main drive additional physical parameters
#define MIRO_WHEEL_COUNTS_PER_MOTOR_ROT		4
#define MIRO_WHEEL_GEARBOX_RATIO			39.822f
#define MIRO_WHEEL_CMD_SPEED_PER_M_PER_S	210.0f

//	conversions between counts and distance
#define MIRO_WHEEL_COUNTS_PER_WHEEL_ROT (MIRO_WHEEL_COUNTS_PER_MOTOR_ROT * MIRO_WHEEL_GEARBOX_RATIO)
#define MIRO_WHEEL_M_PER_COUNT (MIRO_WHEEL_CIRCUMF_M / MIRO_WHEEL_COUNTS_PER_WHEEL_ROT)



////////////////////////////////////////////////////////////////
//	PHYSICAL SERVOS

#define MIRO_KIN_COUNTS_MIN						700 // [7]
#define MIRO_KIN_COUNTS_MAX						2300 // [7]

#define MIRO_COS_COUNTS_MIN						500 // tbc
#define MIRO_COS_COUNTS_MAX						2500 // tbc



////////////////////////////////////////////////////////////////
//	TILT

//	constants associated with TILT DOF (currently fixed).
#define MIRO_TILT_RAD_MIN						__DEG2RAD(   -6.0f)
#define MIRO_TILT_RAD_MAX						MIRO_TILT_RAD_MIN
#define MIRO_TILT_RAD_CALIB						MIRO_TILT_RAD_MIN



////////////////////////////////////////////////////////////////
//	LIFT

//	constants associated with LIFT DOF.
#define MIRO_LIFT_RAD_MIN						__DEG2RAD(   8.0f) // [2]
#define MIRO_LIFT_RAD_MAX						__DEG2RAD(   60.0f) // [1]
#define MIRO_LIFT_RAD_CALIB						__DEG2RAD(   34.0f) // [1]

#define MIRO_LIFT_COUNTS_CALIB					1600 // [3]

//	we actually use a nonlinear mapping for this DOF, below, so this value is not used
#define MIRO_LIFT_COUNTS_PER_RAD				(660 / __DEG2RAD(30.0f))

/*c2py-skip*/
#define MIRO_LIFT_MAP_DEG2COUNTS (0.0050*x3+-0.6007*x2+39.7569*x1+737.4113) // [4]

/*c2py-skip*/
#define MIRO_LIFT_MAP_COUNTS2DEG (-0.0293*x3+1.4880*x2+-19.1194*x1+79.9066) // [4]




////////////////////////////////////////////////////////////////
//	YAW

//	Constants associated with YAW DOF.
#define MIRO_YAW_RAD_MIN					__DEG2RAD(-55.0f) // [8]
#define MIRO_YAW_RAD_MAX					__DEG2RAD(55.0f) // [8]
#define MIRO_YAW_RAD_CALIB					__DEG2RAD(0.0f) // [0]

#define MIRO_YAW_COUNTS_CALIB				1500 // [0]
#define MIRO_YAW_COUNTS_PER_RAD				(525 / __DEG2RAD(39.0f)) // [7]



////////////////////////////////////////////////////////////////
//	PITCH

//	Constants associated with PITCH DOF.
#define MIRO_PITCH_RAD_MIN					__DEG2RAD(  -22.0f) // [1]
#define MIRO_PITCH_RAD_MAX					__DEG2RAD(   8.0f) // [1]
#define MIRO_PITCH_RAD_CALIB				__DEG2RAD(    0.0f) // [0]

#define MIRO_PITCH_COUNTS_CALIB				1800 // [5]
#define MIRO_PITCH_COUNTS_PER_RAD			(770 / __DEG2RAD(16.8f)) // [6]



////////////////////////////////////////////////////////////////
//	TAIL

//	Constants associated with DROOP DOF.
#define MIRO_DROOP_CALIB				0.0f
#define MIRO_DROOP_DEFAULT				MIRO_DROOP_CALIB
#define MIRO_DROOP_COUNTS_CALIB			1500
#define MIRO_DROOP_COUNTS_0				1500
#define MIRO_DROOP_COUNTS_1				1370

//	Constants associated with WAG DOF.
#define MIRO_WAG_CALIB					0.5f
#define MIRO_WAG_DEFAULT				MIRO_WAG_CALIB
#define MIRO_WAG_COUNTS_CALIB			1500
#define MIRO_WAG_COUNTS_0				1300
#define MIRO_WAG_COUNTS_1				1700



////////////////////////////////////////////////////////////////
//	EYELIDS

//	Constants associated with EYELIDS DOFs.
//	"canonical" eye is the left one (for right, invert 0-calib and 1-calib)
#define MIRO_EYE_CALIB					0.5f
#define MIRO_EYE_DEFAULT				0.0f
#define MIRO_EYE_COUNTS_CALIB			1500
#define MIRO_EYE_COUNTS_0				1000
#define MIRO_EYE_COUNTS_1				2000



////////////////////////////////////////////////////////////////
//	EARS

//	Constants associated with EARS DOFs.
//	"canonical" ear is the left one (for right, invert 0-calib and 1-calib)
#define MIRO_EAR_CALIB					0.3333f
#define MIRO_EAR_DEFAULT				MIRO_EAR_CALIB
#define MIRO_EAR_COUNTS_CALIB			1500
#define MIRO_EAR_COUNTS_0				1750
#define MIRO_EAR_COUNTS_1				1000



////////////////////////////////////////////////////////////////
//	DIMENSIONS

//	location of TILT joint in FOOT
#define MIRO_LOC_TILT_X	(0.000f) // [1]
#define MIRO_LOC_TILT_Y	(0.000f) // [8]
#define MIRO_LOC_TILT_Z	(MIRO_WHEEL_DIAMETER_M * 0.5f) // [8]

//	location of LIFT joint in BODY
#define MIRO_LOC_LIFT_X (0.0022f) // [3]
#define MIRO_LOC_LIFT_Y (0.000f) // [1]
#define MIRO_LOC_LIFT_Z ( (0.0807f) - MIRO_LOC_TILT_Z ) // [3] (NB: inc. -MIRO_TILT_Z because specified figure is height above floor)

//	location of YAW joint in NECK
#define MIRO_LOC_YAW_X (0.000f) // [1]
#define MIRO_LOC_YAW_Y (0.000f) // [7]
#define MIRO_LOC_YAW_Z (0.1201f) // [3]

//	location of PITCH joint in GIMBAL
#define MIRO_LOC_PITCH_X (0.000f) // [1]
#define MIRO_LOC_PITCH_Y (0.000f) // [7]
#define MIRO_LOC_PITCH_Z (0.000f) // [7]

//	location of nose tip in HEAD
#define MIRO_LOC_NOSE_TIP_X (0.100f) // [3]
#define MIRO_LOC_NOSE_TIP_Y (0.000f) // [1]
#define MIRO_LOC_NOSE_TIP_Z (0.025f) // [3]

//	location of eye (camera optical centre) in HEAD ("canonical" eye is the left one: for right, invert y)
#define MIRO_LOC_EYE_X ( 0.0377f) // [3]
#define MIRO_LOC_EYE_Y ( 0.0431f) // [3]
#define MIRO_LOC_EYE_Z ( 0.0568f) // [3]

//	location of ear (microphone) in HEAD ("canonical" ear is the left one: for right, invert y)
#define MIRO_LOC_EAR_X (-0.0474f) // [3]
#define MIRO_LOC_EAR_Y ( 0.0519f) // [3]
#define MIRO_LOC_EAR_Z ( 0.0827f) // [3]

//	location of tail mic in BODY
#define MIRO_LOC_TAIL_MIC_X (-0.1600f)
#define MIRO_LOC_TAIL_MIC_Y ( 0.0000f)
#define MIRO_LOC_TAIL_MIC_Z ( (0.0850f) - MIRO_LOC_TILT_Z ) // (NB: inc. -MIRO_TILT_Z because specified figure is height above floor)

//	location of sonar fovea in HEAD
#define MIRO_LOC_SONAR_FOVEA_X (0.125f)
#define MIRO_LOC_SONAR_FOVEA_Y (0.000f)
#define MIRO_LOC_SONAR_FOVEA_Z (0.025f)

//	region sonar-local fovea can reach
#define MIRO_REACHABLE_Z_MIN 0.070f
#define MIRO_REACHABLE_Z_MAX 0.270f



////////////////////////////////////////////////////////////////
//	SENSORS

//	camera orientation in head
#define MIRO_CAM_ELEVATION __DEG2RAD( 45.0f) // [3]
#define MIRO_CAM_DIVERGENCE __DEG2RAD( 27.0f)

//	camera projection model (see dev/camera/projection)
#define MIRO_CAM_HORI_HALF_FOV __DEG2RAD(60.6f)
#define MIRO_CAM_VERT_HALF_FOV __DEG2RAD(31.8f)
#define MIRO_CAM_PIXEL_ASPECT_RATIO 1.0f
#define MIRO_CAM_DISTORTION_MODEL_H1 -0.295f
#define MIRO_CAM_DISTORTION_MODEL_H2 13.0f
#define MIRO_CAM_DISTORTION_MODEL_H3 23.0f
#define MIRO_CAM_DISTORTION_MODEL_H4 1.17302f

//	IMU scaling
#define MIRO_ACCEL_1G (1024)

//	sonar scaling
#define MIRO_SONAR_READING_AT_1M (87.0f) // [10]



////////////////////////////////////////////////////////////////
//	FLAGS

//	DOCLINK PUSH FLAGS
//	body push types
#define MIRO_PUSH_FLAG_IMPULSE						__BIT(0)
#define MIRO_PUSH_FLAG_VELOCITY						__BIT(1)
#define MIRO_PUSH_FLAG_NO_TRANSLATION				__BIT(2)
#define MIRO_PUSH_FLAG_NO_ROTATION					__BIT(3)
#define MIRO_PUSH_FLAG_NO_NECK_MOVEMENT				__BIT(4)
#define MIRO_PUSH_FLAG_WAIT							__BIT(5)

//	DOCLINK ANIMAL STATE FLAGS
//	animal state flags
#define MIRO_ANIMAL_EXPRESS_THROUGH_VOICE			__BIT(0)
#define MIRO_ANIMAL_EXPRESS_THROUGH_NECK			__BIT(1)
#define MIRO_ANIMAL_EXPRESS_THROUGH_WHEELS			__BIT(2)
#define MIRO_ANIMAL_DETECT_MOTION					__BIT(8)
#define MIRO_ANIMAL_DETECT_FACE						__BIT(9)
#define MIRO_ANIMAL_DETECT_BALL						__BIT(10)
#define MIRO_ANIMAL_DETECT_SOUND					__BIT(11)
#define MIRO_ANIMAL_DETECT_APRIL					__BIT(12)



////////////////////////////////////////////////////////////////
//	IDENTIFIERS

//	link identifiers
#define MIRO_LINK_WORLD								-1
#define MIRO_LINK_FOOT								0
#define MIRO_LINK_BODY								1
#define MIRO_LINK_NECK								2
#define MIRO_LINK_GIMBAL							3
#define MIRO_LINK_HEAD								4
#define MIRO_LINK_COUNT								5

//	kin joint identifiers
#define MIRO_JOINT_TILT								0
#define MIRO_JOINT_LIFT								1
#define MIRO_JOINT_YAW								2
#define MIRO_JOINT_PITCH							3
#define MIRO_JOINT_COUNT							4

//	cos joint identifiers
#define MIRO_JOINT_DROOP							0
#define MIRO_JOINT_WAG								1
#define MIRO_JOINT_EYE_L							2
#define MIRO_JOINT_EYE_R							3
#define MIRO_JOINT_EAR_L							4
#define MIRO_JOINT_EAR_R							5

//	light sensor identifiers
#define MIRO_LIGHT_LF								0
#define MIRO_LIGHT_RF								1
#define MIRO_LIGHT_LR								2
#define MIRO_LIGHT_RR								3

//	cliff sensor identifiers
#define MIRO_CLIFF_L								0
#define MIRO_CLIFF_R								1

//	camera sensor identifiers
#define MIRO_CAM_L									0
#define MIRO_CAM_R									1

//	illum identifiers
#define MIRO_ILLUM_LF								0
#define MIRO_ILLUM_LM								1
#define MIRO_ILLUM_LR								2
#define MIRO_ILLUM_RF								3
#define MIRO_ILLUM_RM								4
#define MIRO_ILLUM_RR								5

//	tone message identifiers
#define MIRO_TONE_FREQ								0
#define MIRO_TONE_CODE								0
#define MIRO_TONE_VOL								1
#define MIRO_TONE_DUR								2



////////////////////////////////////////////////////////////////
//	CONTROL

#define MIRO_CLIFF_ADJ_MIN							-8
#define MIRO_CLIFF_ADJ_DEFAULT						0
#define MIRO_CLIFF_ADJ_MAX							8

#define MIRO_CLIFF_MEM_MIN							0
#define MIRO_CLIFF_MEM_DEFAULT						10
#define MIRO_CLIFF_MEM_MAX							50

#define MIRO_CLIFF_THRESH_MIN						0
#define MIRO_CLIFF_THRESH_DEFAULT					6
#define MIRO_CLIFF_THRESH_MAX						15

#define MIRO_CLIFF_MARGIN_MIN						0
#define MIRO_CLIFF_MARGIN_DEFAULT					1
#define MIRO_CLIFF_MARGIN_MAX						4



#endif