package swervelib.imu;

import static edu.wpi.first.units.Units.RotationsPerSecond;

import com.reduxrobotics.sensors.canandgyro.Canandgyro;
import edu.wpi.first.math.geometry.Rotation3d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.units.measure.MutAngularVelocity;
import java.util.Optional;

/**
 * SwerveIMU interface for the Boron {@link Canandgyro} by Redux Robotics
 */
public class CanandgyroSwerve extends SwerveIMU
{

  /**
   * Wait time for status frames to show up.
   */
  public static double             STATUS_TIMEOUT_SECONDS = 0.04;
  /**
   * Boron {@link Canandgyro} by Redux Robotics.
   */
  private final Canandgyro         imu;
  /**
   * Mutable {@link MutAngularVelocity} for readings.
   */
  private final MutAngularVelocity yawVel                 = new MutAngularVelocity(0, 0, RotationsPerSecond);
  /**
   * Offset for the Boron {@link Canandgyro}.
   */
  private       Rotation3d         offset                 = new Rotation3d();
  /**
   * Inversion for the gyro
   */
  private       boolean            invertedIMU            = false;

  /**
   * Generate the SwerveIMU for {@link Canandgyro}.
   *
   * @param canid CAN ID for the Boron {@link Canandgyro}
   */
  public CanandgyroSwerve(int canid)
  {
    imu = new Canandgyro(canid);
  }

  @Override
  public void close()
  {
    imu.close();
  }

  /**
   * Reset {@link Canandgyro} to factory default.
   */
  @Override
  public void factoryDefault()
  {
    imu.resetFactoryDefaults(STATUS_TIMEOUT_SECONDS);
  }

  /**
   * Clear sticky faults on {@link Canandgyro}.
   */
  @Override
  public void clearStickyFaults()
  {
    imu.clearStickyFaults();
  }

  /**
   * Set the gyro offset.
   *
   * @param offset gyro offset as a {@link Rotation3d}.
   */
  public void setOffset(Rotation3d offset)
  {
    this.offset = offset;
  }

  /**
   * Set the gyro to invert its default direction
   *
   * @param invertIMU invert gyro direction
   */
  public void setInverted(boolean invertIMU)
  {
    invertedIMU = invertIMU;
  }

  /**
   * Fetch the {@link Rotation3d} from the IMU without any zeroing. Robot relative.
   *
   * @return {@link Rotation3d} from the IMU.
   */
  @Override
  public Rotation3d getRawRotation3d()
  {
    Rotation3d reading = imu.getRotation3d();
    return invertedIMU ? reading.unaryMinus() : reading;
  }

  /**
   * Fetch the {@link Rotation3d} from the IMU. Robot relative.
   *
   * @return {@link Rotation3d} from the IMU.
   */
  @Override
  public Rotation3d getRotation3d()
  {
    return getRawRotation3d().rotateBy(offset.unaryMinus());
  }

  /**
   * Fetch the acceleration [x, y, z] from the IMU in meters per second squared. If acceleration isn't supported returns
   * empty.
   *
   * @return {@link Translation3d} of the acceleration as an {@link Optional}.
   */
  @Override
  public Optional<Translation3d> getAccel()
  {

    return Optional.of(new Translation3d(imu.getAccelerationFrame().getValue()).times(9.81 / 16384.0));
  }

  @Override
  public MutAngularVelocity getYawAngularVelocity()
  {
    return yawVel.mut_setMagnitude(imu.getAngularVelocityYaw());
  }

  /**
   * Get the instantiated {@link Canandgyro} IMU object.
   *
   * @return IMU object.
   */
  @Override
  public Object getIMU()
  {
    return imu;
  }
}