//
// Created by YY on 2020/8/11.
//

#include "odo_graph.h"
#include "../common/apptimer.h"
#include "../utils/xconvert.h"
#include "../driver_test.h"

static double odoGraph;
static int64_t prevTimestamp;
static double prevSpeed;
static bool isstop;

void ResetOdo(void)
{
    isstop = true;
    odoGraph = 0;
}

double ReadOdo(void)
{
    return odoGraph;
}

void UpdataOdo(motion_t &motion) {
    // 行驶距离，含倒车
    if (isstop && motion.move != STOP) {
        prevSpeed = motion.speed;
        isstop = false;
        prevTimestamp = motion.timestamp;
    } else if (!isstop) {
        if (motion.move != STOP) {
            uint32_t elapsed = motion.timestamp - prevTimestamp;
            if (elapsed >= D_SEC(5)) {      // 中途长时间未定位，重新开始测量
                prevSpeed = motion.speed;
                prevTimestamp = motion.timestamp;
                return;
            }
            if (elapsed >= D_SEC(1)) {
                odoGraph += ((double) elapsed) * (prevSpeed + motion.speed) / 2.0 / 1000.0;
                prevTimestamp = motion.timestamp;
                prevSpeed = motion.speed;
            }
        } else {
            isstop = true;
        }
    }
}