/*
 * MIT License
 *
 * Copyright (c) 2022 PhotonVision
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */

package org.photonlib.examples.simposeest.robot;

import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.TimedRobot;
import org.photonlib.examples.simposeest.sim.DrivetrainSim;

public class Robot extends TimedRobot {
    AutoController autoCtrl = new AutoController();
    Drivetrain dt = new Drivetrain();
    OperatorInterface opInf = new OperatorInterface();

    DrivetrainSim dtSim = new DrivetrainSim();

    PoseTelemetry pt = new PoseTelemetry();

    @Override
    public void robotInit() {
        // Flush NetworkTables every loop. This ensures that robot pose and other values
        // are sent during every iteration.
        setNetworkTablesFlushEnabled(true);
    }

    @Override
    public void autonomousInit() {
        resetOdometery();
        autoCtrl.startPath();
    }

    @Override
    public void autonomousPeriodic() {
        ChassisSpeeds speeds = autoCtrl.getCurMotorCmds(dt.getCtrlsPoseEstimate());
        dt.drive(speeds.vxMetersPerSecond, speeds.omegaRadiansPerSecond);
        pt.setDesiredPose(autoCtrl.getCurPose2d());
    }

    @Override
    public void teleopPeriodic() {
        dt.drive(opInf.getFwdRevSpdCmd(), opInf.getRotateSpdCmd());
    }

    @Override
    public void robotPeriodic() {
        pt.setEstimatedPose(dt.getCtrlsPoseEstimate());
        pt.update();
    }

    @Override
    public void disabledPeriodic() {
        dt.drive(0, 0);
    }

    @Override
    public void simulationPeriodic() {
        if (opInf.getSimKickCmd()) {
            dtSim.applyKick();
        }
        dtSim.update();
        pt.setActualPose(dtSim.getCurPose());
    }

    private void resetOdometery() {
        Pose2d startPose = autoCtrl.getInitialPose();
        dtSim.resetPose(startPose);
        dt.resetOdometry(startPose);
    }
}
