/*********************************************************************************************************************
* TC264 智能车 - PID调参桥接模块 (pid_tuning.c)
*
* 功能:
*   1. 将菜单的 test_pid_value / test_user_value 同步到真实 PID 结构体
*   2. 将关键控制变量推送到虚拟示波器, 用于上位机波形显示
*
* 菜单 PID 组映射:
*   组0 "SpdL"     → g_pid_speed_left  (左轮速度环 P/I/D)
*   组1 "SpdR"     → g_pid_speed_right (右轮速度环 P/I/D)
*   组2 "Steering" → g_pid_steering    (转向环 P/I/D)
*
* 菜单浮点参数 (cleanup 后, PARAM_TOTAL_NUM=9):
*   [1] Base Spd — 手动速度模式时作为 g_target_speed
*   [2] Vac Duty — 真空泵占空比, user_menu.c 直接控制
*   [3] Max Spd  — 保留(以后用)
*   [4] Crn Comp — 保留(以后用)
*
* 虚拟示波器通道:
*   CH1: 目标速度 (脉冲/100ms)
*   CH2: 左轮实际速度 (脉冲/100ms)
*   CH3: 右轮实际速度 (脉冲/100ms)
*   CH4: 左右平均电机 PWM
*********************************************************************************************************************/

#include "zf_common_headfile.h"
#include "pid_control.h"
#include "pid_tuning.h"
#include "zf_device_virtual_oscilloscope.h"

extern float test_user_value[];
extern float test_pid_value[PID_TUNING_LOOP_COUNT][3];
extern char  test_pid_loop[PID_TUNING_LOOP_COUNT][12];
extern int16 pid_switch_num;

static float g_last_speed_left = 0.0f;
static float g_last_speed_right = 0.0f;
float g_last_pwm = 0.0f;
float g_last_pwm_left = 0.0f;
float g_last_pwm_right = 0.0f;

void pid_tuning_sync(void)
{
    g_pid_speed_left.kp = test_pid_value[0][0];
    g_pid_speed_left.ki = test_pid_value[0][1];
    g_pid_speed_left.kd = test_pid_value[0][2];

    g_pid_speed_right.kp = test_pid_value[1][0];
    g_pid_speed_right.ki = test_pid_value[1][1];
    g_pid_speed_right.kd = test_pid_value[1][2];

    g_pid_steering.kp = test_pid_value[2][0];
    g_pid_steering.ki = test_pid_value[2][1];
    g_pid_steering.kd = test_pid_value[2][2];

    g_target_speed = test_user_value[1];

    g_last_speed_left = g_pid_speed_left.feedback;
    g_last_speed_right = g_pid_speed_right.feedback;
    g_last_pwm_left = g_motor_pwm_left_cmd;
    g_last_pwm_right = g_motor_pwm_right_cmd;
    g_last_pwm = (g_last_pwm_left + g_last_pwm_right) * 0.5f;
}

void pid_tuning_scope_output(void)
{
    int16 ch1, ch2, ch3, ch4;

    ch1 = (int16)g_target_speed;
    ch2 = (int16)g_last_speed_left;
    ch3 = (int16)g_last_speed_right;
    ch4 = (int16)g_last_pwm;

    virtual_oscilloscope_data_conversion(ch1, ch2, ch3, ch4);
}