#include "app_config.h"
#include "interface.h"

#include "app_frm_monitor.h"
#include "app_frm_signal.h"
#include "app_frm_timer.h"
#include "app_param_manage.h"
#include "app_pid.h"

#include "app_differential_drive.h"
#include "app_brake.h"
#include "app_power.h"

Timer diff_app_timer;

// 定义全局变量
DiffData diff_data;

PID_t speed_pid;
PID_t yaw_rate_pid;

// 设置电机输出
void setMotorOutput(float *out_torq, float max_torque, uint16_t feed_power, uint16_t discharge_power)
{
//    // 档位
//    un_motor_output1.bit_data.gear = (left_speed >= 0) ? 1 : 2; // 1 表示前进，2 表示后退
//    un_motor_output2.bit_data.gear = (right_speed >= 0) ? 1 : 2;
    
//    // 计算绝对值并转换
    int16_t abs_left_front_speed = (int16_t)(out_torq[0]);
    int16_t abs_right_front_speed = (int16_t)(out_torq[1]);
    
    int16_t abs_left_rear_speed = (int16_t)(out_torq[2]);
    int16_t abs_right_rear_speed = (int16_t)(out_torq[3]);    
    
    // 设置左右电机期望转速

    un_motor_output1.bit_data.MotCon_1Signal3 = (uint16_t)(-abs_right_front_speed);//20250502方向原因，需要把1号电机控制器的左右电机反相
    un_motor_output2.bit_data.MotCon_1Signal4 = (uint16_t)abs_right_rear_speed;    
    
    un_motor_output1.bit_data.MotCon_1Signal4 = (uint16_t)(-abs_left_front_speed);
    un_motor_output2.bit_data.MotCon_1Signal3 = (uint16_t)abs_left_rear_speed;       
    

//    // 设置模式为恒速模式
//    un_motor_output1.bit_data.mode = 0x01; 
//    un_motor_output2.bit_data.mode = 0x01; 
//
//    // 设置最大扭矩
//    un_motor_output1.bit_data.set_torque = (max_torque + 300) * 100; // 20240921 增加偏移量
//    un_motor_output2.bit_data.set_torque = (max_torque + 300) * 100; // 20240921 增加偏移量
//
//    // 设置馈电功率
//    un_motor_output1.bit_data.feed_power = feed_power;
//    un_motor_output2.bit_data.feed_power = feed_power;
//
//    // 设置放电功率
//    un_motor_output1.bit_data.discharge_power = discharge_power;
//    un_motor_output2.bit_data.discharge_power = discharge_power;

}


// 限制值在最小值和最大值之间
float constrain(float value, float min_val, float max_val)
{
    if (value < min_val)
    {
        return min_val;
    }
    else if (value > max_val)
    {
        return max_val;
    }
    else
    {
        return value;
    }
}

// 计算当前速度、角速度
uint8_t calculateCurrentSpeedYawRate(void)
{
    // 获取轮子周长
    float wheel_circumference = (float)getParam("whl_dia") * M_PI;
    // 获取减速比
    float gear_ratio = (float)getParam("gRatio");
    if (fabsf(gear_ratio) < EPSILON)
    {
        return 0; // 避免除以0的情况
    }
    // 将电机转速 (RPM) 转换为线速度 (m/s)，考虑减速比
    
    
    float left_speed_mps = (diff_data.left_motor_speed * wheel_circumference) / (60.0f * gear_ratio);
    float right_speed_mps = (diff_data.right_motor_speed * wheel_circumference) / (60.0f * gear_ratio);
    
//    float left_speed_mps = 0;
//    float right_speed_mps = 0;    
    
//    float left_speed_mps  = 0;
//    float right_speed_mps = 0;
    
    // 计算当前速度
    diff_data.speed = (left_speed_mps + right_speed_mps) / 2.0f;
    // 计算速度差
    float speed_diff = left_speed_mps - right_speed_mps;
    // 计算角速度
    float wheel_base = (float)getParam("whl_bas");
    if (fabsf(wheel_base) < EPSILON)
    {
        return 0; // 避免除以0的情况
    }
    diff_data.yaw_rate = speed_diff / wheel_base;

    return 0;
}


// 计算加速度
float calculateAcceleration(float speed, float previous_speed, float dt)
{
    if (fabs(dt) < EPSILON)
    {
        return 0; // 避免除以0的情况
    }
    float acceleration = (speed - previous_speed) / dt;
    return acceleration;
}

// 计算减速度
float calculateDeceleration(float speed, float previous_speed, float dt)
{
    if (fabs(dt) < EPSILON)
    {
        return 0; // 避免除以0的情况
    }
    float deceleration = calculateAcceleration(previous_speed, speed, dt); // 减速度就是负的加速度
    return deceleration;
}

// 计算最大速度
float calculateMaxSpeed()
{
    // 获取最大电机转速 (RPM)
    float max_rpm = (float)getParam("max_rpm");
    // 获取轮子周长
    float wheel_circumference = (float)getParam("whl_dia") * M_PI;
    // 获取减速比
    float gear_ratio = (float)getParam("gRatio");
    if (fabsf(gear_ratio) < EPSILON)
    {
        return 0; // 避免除以0的情况
    }
    // 将最大电机转速 (RPM) 转换为线速度 (m/s)，考虑减速比
    float max_speed = (max_rpm * wheel_circumference) / (60.0f * gear_ratio);
    return max_speed;
}

// 计算最大加速度
float calculateMaxAcceleration(void)
{
    // 获取车辆参数
    float max_motor_torque = (float)getParam("maxTorq"); // 最大电机扭矩
    float vehicle_mass = (float)getParam("VehMass"); // 车辆质量
    float wheel_radius = (float)getParam("whl_dia") / 2.0f; // 轮子半径
    float gear_ratio = (float)getParam("gRatio"); // 减速比
    if (fabsf(wheel_radius) < EPSILON || fabsf(vehicle_mass) < EPSILON )
    {
        return 0; // 避免除以0的情况
    }
    // 减速比计算扭矩
    float effective_torque = max_motor_torque * gear_ratio;
    // 计算最大加速度
    float max_acceleration = (effective_torque / wheel_radius) / vehicle_mass;
    return max_acceleration;
}

// 计算当前状态，包括当前速度、角速度、加速度、减速度、最大速度
void calculateCurrentState(float dt)
{
    static float previous_speed = 0.0f;
    // 更新当前速度和当前角速度
    calculateCurrentSpeedYawRate();
    // 更新加速度、减速度等，根据需要计算
    diff_data.acceleration = calculateAcceleration(diff_data.speed, previous_speed, dt);
    diff_data.deceleration = calculateDeceleration(diff_data.speed, previous_speed, dt);
    diff_data.max_speed = calculateMaxSpeed();
    previous_speed = diff_data.speed;
}


/**
 * @brief 基于转速反比的双电机扭矩分配函数
 * @param rpm1 电机1当前转速（单位：rpm）
 * @param rpm2 电机2当前转速（单位：rpm）
 * @param total_torque 系统总需求扭矩（单位：Nm）
 * @param torque1 [out] 电机1分配到的扭矩（单位：Nm）
 * @param torque2 [out] 电机2分配到的扭矩（单位：Nm）
 * @note 分配原则：转速越高的电机分配扭矩越小，确保负载均衡
 */
void distributeTorque(float rpm1, float rpm2, float total_torque, float* torque1, float* torque2, float max_torque, float min_torque)
{
  
    // 总扭矩为0时快速返回
    if (fabs(total_torque) < 0.001f) {
        *torque1 = 0.0f;
        *torque2 = 0.0f;
        return;
    }  

//    // 保护条件：当两电机均静止时采用平均分配策略
//    if (fabs(rpm1) < 0.001f && fabs(rpm2) < 0.001f) {
//        *torque1 = total_torque / 2.0f;
//        *torque2 = total_torque / 2.0f;
//        return;
//    }

    // 计算权重因子（与转速成反比关系）
    // 注：添加0.001f防止零转速时除零错误，fabs确保负转速正确处理
    float weight1 = 1.0f / (fabs(rpm1) + 0.001f);
    float weight2 = 1.0f / (fabs(rpm2) + 0.001f);

    // 归一化计算分配比例
    float total_weight = weight1 + weight2;
    *torque1 = total_torque * (weight1 / total_weight);
    *torque2 = total_torque * (weight2 / total_weight);
    
    // 独立限制单侧扭矩（修改核心逻辑）
    if (fabs(*torque1) > max_torque) {
        *torque1 = copysignf(max_torque, *torque1);
    }
    if (fabs(*torque2) > max_torque) {
        *torque2 = copysignf(max_torque, *torque2);
    }   
    
    // 仅对非零扭矩应用下限限制
    if (fabs(*torque1) < min_torque) {
        *torque1 = copysignf(min_torque, *torque1);
    }
    if ( fabs(*torque2) < min_torque) {
        *torque2 = copysignf(min_torque, *torque2);
    }    
    
}



/**
 * @brief 根据轮速差动态调整电机扭矩（带非负限制）
 * @param speed_left 左轮速度（单位：rpm或自定义）
 * @param speed_right 右轮速度（单位：rpm或自定义）
 * @param torque_left 左轮扭矩指针（单位：Nm或自定义）
 * @param torque_right 右轮扭矩指针（单位：Nm或自定义）
 * @param threshold 触发调整的速差阈值（单位同轮速）
 * @param k 扭矩调整系数（无量纲，建议0<k<1）
 * @note 函数会直接修改传入的扭矩值，并确保扭矩不小于0
 */
void adjust_torque_by_speed_diff(float speed_left, float speed_right, 
                               float* torque_left, float* torque_right,
                               float threshold, float k) {
    // 计算轮速差绝对值
    float speed_diff = fabsf(speed_left - speed_right);
    
    if (speed_diff > threshold) {
        // 计算需要减少的扭矩量（速差超出阈值部分×系数）
        float torque_reduction = (speed_diff - threshold) * k;
        
        if (speed_left > speed_right) {
            // 左轮过快时减少左扭矩，并限制最小值为0
            *torque_left = fmaxf(*torque_left - torque_reduction, 0.0f);
        } else {
            // 右轮过快时减少右扭矩，并限制最小值为0
            *torque_right = fmaxf(*torque_right - torque_reduction, 0.0f);
        }
    }
}
// 计算左右电机速度
void computeInverseKinematics(float linear_velocity_x, float yaw_rate, float max_speed, float *motor_speed)
{
    // 防止速度过低导致不必要的计算
    if (fabs(max_speed) < EPSILON)
    {
        motor_speed[0] = 0.0f;
        motor_speed[1] = 0.0f;        
        motor_speed[2] = 0.0f;        
        motor_speed[3] = 0.0f;        
        return;
    }

#if THROTTLE_PID_MODE
    float max_torque = (float)getParam("maxTorq");
    
    linear_velocity_x = constrain(linear_velocity_x, -max_torque, max_torque);
    yaw_rate = constrain(yaw_rate, -2*max_torque, 2*max_torque);  

    
    float left_speed_mps = linear_velocity_x + yaw_rate;
    float right_speed_mps = linear_velocity_x - yaw_rate;  
    
//扭矩分配		
    if(max_torque < left_speed_mps)
    {
        right_speed_mps = right_speed_mps - (left_speed_mps - max_torque);//多减去超出限值得部分，保证转矩差
        left_speed_mps = max_torque;
    }
    else if(-max_torque > left_speed_mps)
    {
        right_speed_mps = right_speed_mps - (left_speed_mps + max_torque);//多减去超出限值得部分，保证转矩差
        left_speed_mps = -max_torque;
    } 
    else if(max_torque < right_speed_mps)
    {
        left_speed_mps = left_speed_mps - (right_speed_mps - max_torque);//多减去超出限值得部分，保证转矩差
        right_speed_mps = max_torque;
    }
    else if(-max_torque > right_speed_mps)
    {
        left_speed_mps = left_speed_mps - (right_speed_mps + max_torque);//多减去超出限值得部分，保证转矩差
        right_speed_mps = -max_torque;
    }
    else{}
    
    printf("input_torq: left=%.1f right=%.1f yaw_rate=%.1f\n", left_speed_mps, right_speed_mps, yaw_rate);
    
    motor_speed[0] = left_speed_mps;
    motor_speed[2] = left_speed_mps; 

    motor_speed[1] = right_speed_mps;
    motor_speed[3] = right_speed_mps;     
    
    adjust_torque_by_speed_diff( diff_data.left_front_motor_speed,diff_data.left_rear_motor_speed, &motor_speed[0], &motor_speed[2],100, 5);     
    adjust_torque_by_speed_diff( diff_data.right_front_motor_speed,diff_data.right_rear_motor_speed, &motor_speed[1], &motor_speed[3],100, 5);      
    
      
//    printf("speed: FL=%.1f FR=%.1f RL=%.1f RR=%.1f\n", diff_data.left_front_motor_speed, diff_data.right_front_motor_speed, diff_data.left_rear_motor_speed, diff_data.right_rear_motor_speed);  
    
  
    
    
    
    
    
    
    
//    distributeTorque(diff_data.left_front_motor_speed,diff_data.left_rear_motor_speed,2*left_speed_mps,&motor_speed[0],&motor_speed[2],diff_data.max_Torq,diff_data.min_Torq);
//    distributeTorque(diff_data.right_front_motor_speed,diff_data.right_rear_motor_speed,2*right_speed_mps,&motor_speed[1],&motor_speed[3],diff_data.max_Torq,diff_data.min_Torq);  
    
//     printf("torq: FL=%.1fNm FR=%.1fNm RL=%.1fNm RR=%.1fNm\n", motor_speed[0], motor_speed[1], motor_speed[2], motor_speed[3]);  
    
//    // 返回计算结果
//    *left_motor_speed = left_speed_mps;
//    *right_motor_speed = right_speed_mps;
#else    
    
    // 限制线速度和偏航率
    linear_velocity_x = constrain(linear_velocity_x, -max_speed, max_speed);
    float max_yaw_rate = max_speed / ((float)getParam("whl_bas") / 2.0f);
    yaw_rate = constrain(yaw_rate, -max_yaw_rate, max_yaw_rate);

    // 计算旋转速度
    float rotational_velocity = ((float)getParam("whl_bas") / 2.0f) * yaw_rate;

    // 计算车辆左右线速度 (m/s)
    float left_speed_mps = linear_velocity_x - rotational_velocity;  //20250316 为解决原地转向和直行转向相同，所以把左右输出的速度交换
    float right_speed_mps = linear_velocity_x + rotational_velocity;

    // 计算轮子周长
    float wheel_circumference = (float)getParam("whl_dia") * M_PI;

    // 将车辆左右线速度转换为轮子转速 (RPM)
    float left_wheel_rpm = (left_speed_mps * 60.0f) / wheel_circumference;
    float right_wheel_rpm = (right_speed_mps * 60.0f) / wheel_circumference;

    // 获取减速比
    float gear_ratio = (float)getParam("gRatio");

    // 将轮子转速转换为电机转速，考虑减速比
    float left_motor_rpm = left_wheel_rpm * gear_ratio;
    float right_motor_rpm = right_wheel_rpm * gear_ratio;

    // 限制电机的最大和最小转速
    float max_motor_rpm = (float)getParam("max_rpm");
    left_motor_rpm = constrain(left_motor_rpm, -max_motor_rpm, max_motor_rpm);
    right_motor_rpm = constrain(right_motor_rpm, -max_motor_rpm, max_motor_rpm);
    // 当电机转速小于50转时，设置为0
    if (fabsf(left_motor_rpm) < 50)//速度慢所以设置位10转
    {
        left_motor_rpm = 0;
    }
    if (fabsf(right_motor_rpm) < 50)//速度慢所以设置位10转
    {
        right_motor_rpm = 0;
    }
    // 左边电机方向反一下，因为电机安装反了，返回来的数据也要反一下
 //   left_motor_rpm = -left_motor_rpm;
    // 返回计算结果
    *left_motor_speed = left_motor_rpm;
    *right_motor_speed = right_motor_rpm;
    
#endif    
}

// 映射遥控器速度，分为死区、低速区和高速区。
float mapRemoteControlSpeed(
    float input_speed,
    float deadzone_limit,
    float input_max,
    float output_max,
    float input_slow,
    float output_slow
)
{
    float output_speed = 0.0f;
    // 获取输入速度的绝对值
    float abs_input = fabsf(input_speed);
//diff_data.desired_speed, 0.1, 2, 10, 1, 5

//  diff_data.desired_speed = mapRemoteControlSpeed(diff_data.desired_speed, 0.1, 20, 5, 5, 0.5);

    if (abs_input < deadzone_limit + EPSILON)
    {
        output_speed = 0.0f;// 死区
    }
    else if (abs_input < input_slow + EPSILON)// 低速区
    {
        output_speed = (abs_input - deadzone_limit) * output_slow / (input_slow - deadzone_limit);//
    }
    else if (abs_input <= input_max + EPSILON)// 高速区
    {
        output_speed = output_slow + (abs_input - input_slow) * (output_max - output_slow) / (input_max - input_slow);// 0.2 + （3 - 0.5）*  （15-0.2） / （17 - 0.5）   
    }
    else // 超出范围
    {
        output_speed = output_max;
    }
    
    // 根据原始输入速度的符号恢复方向
    if (input_speed < 0)
    {
        output_speed = -output_speed;
    }
    return output_speed;
}


// 差速处理函数
static void diffProcess(void *signal_id)
{
    (void)signal_id;
    static float previous_time1 = 0.0f;

    float time1 = (float)getCurrentTime();
    float dt = (time1 - previous_time1) / PERIOD_TICK; 
    previous_time1 = time1;

    // 计算当前状态，包括当前速度、角速度、加速度、减速度、最大速度
    calculateCurrentState(dt);

    // 当速度小于1时，设定为原地转向  20250321 修改为考虑负号
    if( (diff_data.desired_speed >= 0) && (diff_data.desired_speed <= 1.0f) )
    {
        diff_data.desired_yaw_rate = diff_data.desired_curvature * 1.0f;     
    }
    else if( (diff_data.desired_speed < 0) && (diff_data.desired_speed >= -1.0f) )
    {
         diff_data.desired_yaw_rate = diff_data.desired_curvature * -1.0f;
    }
    else
    {
        diff_data.desired_yaw_rate = diff_data.desired_curvature * diff_data.desired_speed;
    }

//    printf("desired_speed: %f, desired_yaw: %f\n", diff_data.desired_speed, diff_data.desired_yaw_rate);
    // 使用 PID 控制器计算输出速度和曲率
    float output_speed = calculatePidOutput(&speed_pid, diff_data.desired_speed, diff_data.speed, 0.0f, dt);
    float output_yaw_rate = calculatePidOutput(&yaw_rate_pid, diff_data.desired_yaw_rate, diff_data.yaw_rate, 0.0f, dt);

    // 计算最大加速度，用函数计算
    float max_acceleration = calculateMaxAcceleration();
    // 限制输出速度在当前速度和最大加速度计算出来的速度之间
    // output_speed = constrain(output_speed, diff_data.speed - max_acceleration * dt, diff_data.speed + max_acceleration * dt);

    
    if( (0 == diff_data.desired_yaw_rate) && (0 == diff_data.desired_speed) )//手柄回中，速度小的时候清0 
    {
        resetPidIntegral(&speed_pid);
        resetPidIntegral(&yaw_rate_pid);        
        output_speed = 0;
        output_yaw_rate = 0;
    }   
   
//    printf("output_speed: %f, output_yaw: %f, integral: %f\n", output_speed, output_yaw_rate,speed_pid.integral);    
    
    
//    if(diff_data.desired_yaw_rate != 0)//有转向的情况下下
//    {
//        if( (output_yaw_rate > -500) && (output_yaw_rate < 500) )//如果是转向输出在-500~500之间，那么开始原地转向扭矩太小，所以设定最小扭矩。
//        {
//           output_yaw_rate = 500;
//        }
//    }
    
    
    // 使用差速车辆动力学模型计算左右电机的期望速度
    computeInverseKinematics(output_speed, output_yaw_rate, diff_data.max_speed, &diff_data.out_torq[0]);
    
    
    
    
    
    
    
//     if( (left_speed < 200) && (left_speed > -200) )
//     {
//       left_speed = 0;
//     }
//     
//     if( (right_speed < 200) && (right_speed > -200) )
//     {
//       right_speed = 0;
//     }      
    
    
    // 设置电机输出
    setMotorOutput(&diff_data.out_torq[0], 
                   diff_data.max_Torq,//
                   (uint16_t)getParam("feedPwr"), 
                   (uint16_t)getParam("dispPwr"));
    // 发布左右电机期望转速,电源在工作状态才能发送
    if (power_data.current_state == POWER_WORKING)
    {
        publishMessage(&un_motor_output1, 1);
        publishMessage(&un_motor_output2, 1);                
    }
    
    
    un_can_debug_output.bit_data.speed = (uint8_t)(int8_t)(diff_data.speed*10);
    un_can_debug_output.bit_data.desired_speed = (uint8_t)(int8_t)(diff_data.desired_speed*10);    
    
    un_can_debug_output.bit_data.curvature = (uint8_t)(int8_t)(diff_data.yaw_rate*10);
    un_can_debug_output.bit_data.desired_curvature = (uint8_t)(int8_t)(diff_data.desired_yaw_rate*10);
    
    un_can_debug_output.bit_data.set_left_out = (uint16_t)(int16_t)(diff_data.left_motor_speed);
    un_can_debug_output.bit_data.set_right_out = (uint16_t)(int16_t)(diff_data.right_motor_speed);    
    
    publishMessage(&diff_data, 1);     
    
}
 
/******************************************************************************
               Filter();      N个数中取两个
******************************************************************************/
int16_t Filter(int16_t *s,uint8_t Len)
{
  uint8_t i,j;
	int16_t temp;
//降序排序
  for(i=0;i<Len-1;i++)
    for(j=i+1;j<Len;j++)
    {
      if(*(s+i)>*(s+j))
      {
         *(s+i)=*(s+i)^*(s+j);
         *(s+j)=*(s+j)^*(s+i);
         *(s+i)=*(s+i)^*(s+j);
       }
     }
  temp=(*(s+Len/2)+*(s+(Len/2-1)))/2;//20210225修改为除以2，负数不能够右移
  return(temp);
}






// 差速输入处理函数
static void diffInput(void *signal_id)
{ 
  
    static float left_speed_fiter[SPEED_FITER_NUM] = {0};
//    static uint8_t left_speed_cnt = 0;
    static float right_speed_fiter[SPEED_FITER_NUM] = {0};
//    static uint8_t right_speed_cnt = 0;
    float motor_speed_temp = 0.0f;
    
    if (signal_id == &un_sw_sample)
    {
        diff_data.emergency_stop_switch = (uint8_t)un_sw_sample.bit_data.emergency_stop_switch;
    }
    else if ( (signal_id == &un_remote_control_input) && (1 == un_remote_control_input.bit_data.enable) )// 遥控器断线，不更新数据
    {
        diff_data.remote_emergency_stop = !(uint8_t)un_remote_control_input.bit_data.switch_b;
        diff_data.mode = un_remote_control_input.bit_data.switch_c == 1 ? MODE_AUTO : MODE_MANUAL;

        if (diff_data.mode == MODE_MANUAL)
        {
            diff_data.desired_speed = (float)((int16_t)(un_remote_control_input.bit_data.speed));
            diff_data.desired_curvature = (float)((int16_t)(un_remote_control_input.bit_data.curvature));
            // 单位转换
            diff_data.desired_speed = diff_data.desired_speed * 0.01f;
            diff_data.desired_curvature = diff_data.desired_curvature * 0.0001f;
            // 遥控器速度映射，参数含义为：输入速度，死区，最大输入，最大输出，低速输入，低速输出
            diff_data.desired_speed = mapRemoteControlSpeed(diff_data.desired_speed, 0.1, 20, 5, 5, 0.5);         
            diff_data.desired_curvature = mapRemoteControlSpeed(diff_data.desired_curvature, 0.1, 2, 2, 1, 0.5);
            
            if(diff_data.desired_speed >= 0)//20250320 增加根据速度大小来决定方向，解决后退时转弯反向的问题   
            {
                diff_data.desired_curvature = diff_data.desired_curvature;               
            }
            else
            {
                diff_data.desired_curvature = -diff_data.desired_curvature;                 
            }           
        }
    }
    else if ( (signal_id == &un_manual_computer_input) && (diff_data.mode == MODE_AUTO) )
    {
        diff_data.desired_speed = (float)((int16_t)(un_manual_computer_input.bit_data.set_speed));
        diff_data.desired_curvature = (float)((int16_t)(un_manual_computer_input.bit_data.set_curvature));
        // 单位转换
        diff_data.desired_speed = diff_data.desired_speed * 0.01f;
        diff_data.desired_curvature = diff_data.desired_curvature * 0.0001f;
        // 遥控器速度映射，参数含义为：输入速度，死区，最大输入，最大输出，低速输入，低速输出
        diff_data.desired_speed = mapRemoteControlSpeed(diff_data.desired_speed, 0.2, 2, 10, 1, 5);//20250320  修改死区为0.2解决停不住的问题
        diff_data.desired_curvature = mapRemoteControlSpeed(diff_data.desired_curvature, 0, 2, 2, 1, 1);
    }
    else if ( (signal_id == &un_auto_computer_input) && (diff_data.mode == MODE_AUTO) )
    {
        diff_data.desired_speed = (float)((int16_t)(un_auto_computer_input.bit_data.set_speed));
        diff_data.desired_curvature = (float)((int16_t)(un_auto_computer_input.bit_data.set_curvature));
        // 单位转换
        diff_data.desired_speed = diff_data.desired_speed * 0.01f;
        diff_data.desired_curvature = - diff_data.desired_curvature * 0.0001f;//  20241016 增加转弯反相
        // 遥控器速度映射，参数含义为：输入速度，死区，最大输入，最大输出，低速输入，低速输出
        diff_data.desired_speed = mapRemoteControlSpeed(diff_data.desired_speed, 0, 5, 10, 2.5, 5);
        diff_data.desired_curvature = mapRemoteControlSpeed(diff_data.desired_curvature, 0, 2, 2, 1, 1);
    } 
    else if (signal_id == &un_motor_input1)// 处理第一个电机速度信号（左电机）
    {

        diff_data.right_front_motor_speed = -(float)( (int16_t)(un_motor_input1.bit_data.MotCon_1Signal3) ) / 6.0; // 20250502 1号控制器增加反相 
        diff_data.right_rear_motor_speed = (float)( (int16_t)(un_motor_input2.bit_data.MotCon_1Signal4) ) /6.0;
//        motor_speed_temp = (motor_speed_temp + (int16_t)un_motor_input2.bit_data.MotCon_1Signal4)/2/6;
        
        if(fabs(diff_data.right_rear_motor_speed) > fabs(diff_data.right_front_motor_speed))//取速度较小的轮速
        {
           motor_speed_temp = diff_data.right_front_motor_speed;
        }
        else
        {
           motor_speed_temp = diff_data.right_rear_motor_speed;           
        }

//        diff_data.right_motor_speed  = LOWPASS_FILTER(motor_speed_temp,right_speed_fiter[0]);
        diff_data.right_motor_speed = motor_speed_temp;
        right_speed_fiter[0] = diff_data.right_motor_speed;
        

//        if(SPEED_FITER_NUM == right_speed_cnt)//取样4次后滤波
//        {  
//            right_speed_cnt = 0;
//            diff_data.right_motor_speed = (float)Filter(right_speed_fiter,SPEED_FITER_NUM)/6.0f;
//        }
        
//        printf("right_motor_speed = %f, motor_speed_temp = %d\n",diff_data.right_motor_speed,motor_speed_temp);

    }
    else if (signal_id == &un_motor_input2)// 处理第二个电机速度信号（右电机）
    {
        diff_data.left_front_motor_speed = -(float)( (int16_t)(un_motor_input1.bit_data.MotCon_1Signal4) ) /6.0;  // 20250502 1号控制器增加反相    
        diff_data.left_rear_motor_speed = (float)( (int16_t)un_motor_input2.bit_data.MotCon_1Signal3 ) / 6.0;
        
        if(fabs(diff_data.left_front_motor_speed) > fabs(diff_data.left_rear_motor_speed))//取速度较小的轮速
        {
           motor_speed_temp = diff_data.left_rear_motor_speed;
        }
        else
        {
           motor_speed_temp = diff_data.left_front_motor_speed;           
        }

        diff_data.left_motor_speed = motor_speed_temp;        
//        diff_data.left_motor_speed  = LOWPASS_FILTER(motor_speed_temp,left_speed_fiter[0]);//低通滤波器
        left_speed_fiter[0] = diff_data.left_motor_speed;        
        
        
//        left_speed_fiter[left_speed_cnt] = motor_speed_temp;
//        left_speed_cnt ++;
//        if(SPEED_FITER_NUM == left_speed_cnt)//取样4次后滤波
//        {  
//            left_speed_cnt = 0;
//            diff_data.left_motor_speed = (float)Filter(left_speed_fiter,SPEED_FITER_NUM)/6.0f;
//        }        
                 
    }
    
    // 急停开关
    diff_data.emergency_stop_state = (uint8_t)(diff_data.emergency_stop_switch == app_close() || diff_data.remote_emergency_stop == app_close());

    // 如果急停被激活,强制设定速度为0,急停包括车上急停开关和遥控器急停开关
    if (diff_data.emergency_stop_state == 1)
    {
        diff_data.desired_speed = 0.0;
        diff_data.desired_curvature = 0.0;
    }
    // 遥控器断线，而且是在手动模式，期望值清0
    if ( (diff_data.mode == MODE_MANUAL) && (0 == un_remote_control_input.bit_data.enable) )
    {
        diff_data.desired_speed = 0.0;
        diff_data.desired_curvature = 0.0;
    }
    
    if (diff_data.emergency_stop_state == 1)//刹车  20241017 增加的扭矩限制
    {
       diff_data.max_Torq = 5;//20240403修改。刹车就是5N
    }
    else if ((0 == diff_data.desired_speed) && (0 == diff_data.desired_curvature) && (diff_data.left_motor_speed > -100) && (diff_data.left_motor_speed < 100)&& (((diff_data.right_motor_speed > -100) && (diff_data.right_motor_speed < 100))))//20240330只有当手柄回中，然后当前已经停止的状态才设置为最小停车扭矩
    {
       diff_data.max_Torq = 5;//停车 就为0  20250425 修改为5，解决手柄回中，震荡问题
    }
    else
    {
       diff_data.max_Torq = (uint16_t)getParam("maxTorq");//参数读取设定最大扭矩
    }
     
    diffProcess(&diff_data);//计算左右电机期望转速
}



// 预充完成处理函数
void preChargeFinish(void *signal_id)
{
    (void)signal_id;
    
    float out_torq[4] = {0.0f,0.0f,0.0f,0.0f};

    setMotorOutput(out_torq, (uint16_t)getParam("maxTorq"), (uint16_t)getParam("feedPwr"), (uint16_t)getParam("dispPwr"));
    // 档位
//    un_motor_output1.bit_data.gear = 0; // 0表示空挡
//    un_motor_output2.bit_data.gear = 0;
    publishMessage(&un_motor_output1, 1);
    publishMessage(&un_motor_output2, 1);
}


void diffParametersInit(void *signal_id)
{
    (void)signal_id;  // 标记变量为已使用，避免编译器警告
    
    if(diff_data.mode == MODE_AUTO)//20250504 自动模式PID
    {
        setPidParameters(&speed_pid,
                          getParam("Ospd_kp"),
                          getParam("Ospd_ki"),
                          getParam("Ospd_kd"),
                          getParam("Ospd_il"),
                          getParam("Ospd_ol")
         );

        setPidParameters(&yaw_rate_pid,
                          getParam("Ocrv_kp"),
                          getParam("Ocrv_ki"),
                          getParam("Ocrv_kd"),
                          getParam("Ocrv_il"),
                          getParam("Ocrv_ol")
         );         
    }
    else//手动模式
    {
        setPidParameters(&speed_pid,
                          getParam("spd_kp"),
                          getParam("spd_ki"),
                          getParam("spd_kd"),
                          getParam("spd_il"),
                          getParam("spd_ol")
         );

        setPidParameters(&yaw_rate_pid,
                          getParam("crv_kp"),
                          getParam("crv_ki"),
                          getParam("crv_kd"),
                          getParam("crv_il"),
                          getParam("crv_ol")
         );       
    }
    diff_data.min_Torq = (uint16_t)getParam("minTorq");//参数读取设定最大扭矩    
    
   
    printf("desired_speed: %f, desired_yaw_rate: %f\n", diff_data.desired_speed, diff_data.desired_yaw_rate);
    printf("speed: %f, yaw_rate: %f\n", diff_data.speed, diff_data.yaw_rate);   
//    printf("speed: %f, yaw_rate: %f\n", diff_data.speed, diff_data.yaw_rate);     
    
    printf("left_motor_speed = %f\n",diff_data.left_motor_speed);
    printf("right_motor_speed = %f\n",diff_data.right_motor_speed);
    
//    printf("speed: FL=%.1f FR=%.1f RL=%.1f RR=%.1f\n", diff_data.left_front_motor_speed, diff_data.right_front_motor_speed, diff_data.left_rear_motor_speed, diff_data.right_rear_motor_speed);     
//    printf("torq: FL=%.1fNm FR=%.1fNm RL=%.1fNm RR=%.1fNm\n", diff_data.out_torq[0], diff_data.out_torq[1], diff_data.out_torq[2], diff_data.out_torq[3]);    
    
    float deffspeed  = (float)((int16_t)(un_remote_control_input.bit_data.speed));
    float deffcurvature = (float)((int16_t)(un_remote_control_input.bit_data.curvature));
    // 单位转换
    deffspeed = deffspeed * 0.01f;
    deffcurvature = deffcurvature * 0.0001f;    
    
    printf("remote speed = %f, remote curvature = %f\n", deffspeed, deffcurvature);       
     
    timerStart(&diff_app_timer,1000,1);//1s调用一次 
}


// 差速初始化函数
void diffAppInit(void)
{
    // 初始化 diff_data
    memset(&diff_data, 0, sizeof(DiffData)); 

    // 订阅相关信号
    subscribe(&un_sw_sample, diffInput);            // 急停开关、高压开关
    subscribe(&un_motor_input1, diffInput);
    subscribe(&un_motor_input2, diffInput);
    
    
    subscribe(&un_auto_computer_input, diffInput);
    subscribe(&un_manual_computer_input, diffInput);
    subscribe(&un_remote_control_input, diffInput);   
    subscribe(&power_data.pre_charge_finish, preChargeFinish);

    // 初始化速度 PID 控制器
    initializePid(&speed_pid, PID_MODE_DERIVATIVE_CALC, 0.0001f);
    // 设置速度 PID 控制器的参数
     setPidParameters(&speed_pid,
                      getParam("spd_kp"),
                      getParam("spd_ki"),
                      getParam("spd_kd"),
                      getParam("spd_il"),
                      getParam("spd_ol")
     );

    // 初始化曲率 PID 控制器
    initializePid(&yaw_rate_pid, PID_MODE_DERIVATIVE_CALC, 0.0001f);
    // 设置曲率 PID 控制器的参数
     setPidParameters(&yaw_rate_pid,
                      getParam("crv_kp"),
                      getParam("crv_ki"),
                      getParam("crv_kd"),
                      getParam("crv_il"),
                      getParam("crv_ol")
     );

    subscribe(&diff_app_timer, diffParametersInit);
    timerStart(&diff_app_timer,1000,1);//1s调用一次 

    printf("diffControl: diffAppInit OK \n");
}