#!/bin/sh
# SmartCar Framework 控制脚本
# 用法: sh ctl.sh start | stop | init

PWMCHIP=8
PWMPERIOD=50000
DIR="$(dirname "$0")"

init_pins() {
    echo "[framework] 初始化引脚..."
    for pin in 73 12 13 66 67 75 72; do
        echo $pin > /sys/class/gpio/export 2>/dev/null
    done
    echo out > /sys/class/gpio/gpio73/direction 2>/dev/null
    echo out > /sys/class/gpio/gpio12/direction 2>/dev/null
    echo out > /sys/class/gpio/gpio13/direction 2>/dev/null
    echo out > /sys/class/gpio/gpio66/direction 2>/dev/null
    echo out > /sys/class/gpio/gpio67/direction 2>/dev/null
    echo out > /sys/class/gpio/gpio75/direction 2>/dev/null
    echo in  > /sys/class/gpio/gpio72/direction 2>/dev/null
    echo 1 > /sys/class/gpio/gpio73/value 2>/dev/null
    echo 0 > /sys/class/gpio/gpio12/value 2>/dev/null
    echo 0 > /sys/class/gpio/gpio13/value 2>/dev/null
    echo 0 > /sys/class/gpio/gpio66/value 2>/dev/null
    echo 0 > /sys/class/gpio/gpio67/value 2>/dev/null

    for ch in 1 2; do
        echo $ch > /sys/class/pwm/pwmchip${PWMCHIP}/export 2>/dev/null
        echo ${PWMPERIOD} > /sys/class/pwm/pwmchip${PWMCHIP}/pwm${ch}/period 2>/dev/null
        echo 1 > /sys/class/pwm/pwmchip${PWMCHIP}/pwm${ch}/enable 2>/dev/null
        echo 0 > /sys/class/pwm/pwmchip${PWMCHIP}/pwm${ch}/duty_cycle 2>/dev/null
    done

    echo 0 > /sys/class/pwm/pwmchip1/export 2>/dev/null
    echo 3000000 > /sys/class/pwm/pwmchip1/pwm0/period 2>/dev/null
    echo 1 > /sys/class/pwm/pwmchip1/pwm0/enable 2>/dev/null
    echo 1520000 > /sys/class/pwm/pwmchip1/pwm0/duty_cycle 2>/dev/null

    echo 12  > "$DIR/speed" 2>/dev/null
    echo 0.03 > "$DIR/deadband" 2>/dev/null
    echo 1.5 > "$DIR/steer_gain" 2>/dev/null
    echo 400000 > "$DIR/kp" 2>/dev/null
    echo 200000 > "$DIR/ki" 2>/dev/null
    echo 0   > "$DIR/kd" 2>/dev/null
    echo 0.6 > "$DIR/mortor_kp" 2>/dev/null
    echo 0.2 > "$DIR/mortor_ki" 2>/dev/null
    echo 0   > "$DIR/mortor_kd" 2>/dev/null
    echo 0   > "$DIR/start" 2>/dev/null
    echo 1   > "$DIR/showImg" 2>/dev/null
    echo 60  > "$DIR/vision_fps" 2>/dev/null
    echo 20  > "$DIR/model_fps" 2>/dev/null
    echo "[framework] 引脚初始化完成"
}

do_start() {
    echo "[framework] 启动..."
    echo 1 > "$DIR/start"
    cd "$DIR"
    nohup ./smartcar_framework > "$DIR/out.log" 2>&1 &
    echo "[framework] PID=$!"
}

do_stop() {
    echo "[framework] 停止..."
    echo 0 > "$DIR/start" 2>/dev/null
    killall -9 smartcar_framework 2>/dev/null
    sleep 0.3
    echo 0 > /sys/class/pwm/pwmchip${PWMCHIP}/pwm1/duty_cycle 2>/dev/null
    echo 0 > /sys/class/pwm/pwmchip${PWMCHIP}/pwm2/duty_cycle 2>/dev/null
    echo 0 > /sys/class/gpio/gpio73/value 2>/dev/null
    echo "[framework] 已停止, PWM已归零"
}

case "${1}" in
    start)
        init_pins
        do_start
        ;;
    stop)
        do_stop
        ;;
    init)
        init_pins
        ;;
    *)
        echo "用法: sh ctl.sh start | stop | init"
        exit 1
        ;;
esac