package swervelib.motors;

import static edu.wpi.first.units.Units.Milliseconds;
import static edu.wpi.first.units.Units.Seconds;

import com.revrobotics.AbsoluteEncoder;
import com.revrobotics.REVLibError;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.spark.ClosedLoopSlot;
import com.revrobotics.spark.SparkBase.ControlType;
import com.revrobotics.spark.SparkBase.PersistMode;
import com.revrobotics.spark.SparkBase.ResetMode;
import com.revrobotics.spark.SparkClosedLoopController;
import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
import com.revrobotics.spark.config.SparkFlexConfig;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.wpilibj.Alert;
import edu.wpi.first.wpilibj.Alert.AlertType;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Timer;
import java.util.Optional;
import java.util.function.Supplier;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.parser.PIDFConfig;
import swervelib.telemetry.SwerveDriveTelemetry;

/**
 * An implementation of {@link SparkFlex} as a {@link SwerveMotor}.
 */
public class SparkFlexSwerve extends SwerveMotor
{

  /**
   * Config retry delay.
   */
  private final double                          configDelay     = Milliseconds.of(5).in(Seconds);
  /**
   * {@link SparkFlex} Instance.
   */
  private final SparkFlex                       motor;
  /**
   * Integrated encoder.
   */
  public        RelativeEncoder                 encoder;
  /**
   * Absolute encoder attached to the SparkFlex (if exists)
   */
  public        Optional<SwerveAbsoluteEncoder> absoluteEncoder = Optional.empty();
  /**
   * Closed-loop PID controller.
   */
  public        SparkClosedLoopController       pid;
  /**
   * Supplier for the velocity of the motor controller.
   */
  private       Supplier<Double>                velocity;
  /**
   * Supplier for the position of the motor controller.
   */
  private       Supplier<Double>                position;
  /**
   * An {@link Alert} for if there is an error configuring the motor.
   */
  private       Alert                           failureConfiguring;
  /**
   * Configuration object for {@link SparkFlex} motor.
   */
  private       SparkFlexConfig                 cfg             = new SparkFlexConfig();


  /**
   * Initialize the swerve motor.
   *
   * @param motor        The SwerveMotor as a SparkFlex object.
   * @param isDriveMotor Is the motor being initialized a drive motor?
   * @param motorType    {@link DCMotor} which the {@link SparkFlex} is attached to.
   */
  public SparkFlexSwerve(SparkFlex motor, boolean isDriveMotor, DCMotor motorType)
  {
    this.motor = motor;
    this.isDriveMotor = isDriveMotor;
    failureConfiguring = new Alert("Motors",
                                   "Failure configuring motor " +
                                   motor.getDeviceId(),
                                   AlertType.kWarning);
    factoryDefaults();
    clearStickyFaults();

    encoder = motor.getEncoder();
    pid = motor.getClosedLoopController();
    cfg.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder); // Configure feedback of the PID controller as the integrated encoder.

    // Spin off configurations in a different thread.
    // configureSparkFlex(() -> motor.setCANTimeout(0)); // Commented out because it prevents feedback.

    velocity = encoder::getVelocity;
    position = encoder::getPosition;
  }

  /**
   * Initialize the {@link SwerveMotor} as a {@link SparkFlex} connected to a Brushless Motor.
   *
   * @param id           CAN ID of the SparkFlex.
   * @param isDriveMotor Is the motor being initialized a drive motor?
   * @param motorType    {@link DCMotor} which the {@link SparkFlex} is attached to.
   */
  public SparkFlexSwerve(int id, boolean isDriveMotor, DCMotor motorType)
  {
    this(new SparkFlex(id, MotorType.kBrushless), isDriveMotor, motorType);
  }

  /**
   * Run the configuration until it succeeds or times out.
   *
   * @param config Lambda supplier returning the error state.
   */
  private void configureSparkFlex(Supplier<REVLibError> config)
  {
    for (int i = 0; i < maximumRetries; i++)
    {
      if (config.get() == REVLibError.kOk)
      {
        return;
      }
      Timer.delay(configDelay);
    }
    failureConfiguring.set(true);
  }

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

  /**
   * Get the current configuration of the {@link SparkFlex}
   *
   * @return {@link SparkFlexConfig}
   */
  public SparkFlexConfig getConfig()
  {
    return cfg;
  }

  /**
   * Update the config for the {@link SparkFlex}
   *
   * @param cfgGiven Given {@link SparkFlexConfig} which should have minimal modifications.
   */
  public void updateConfig(SparkFlexConfig cfgGiven)
  {
    if (!DriverStation.isDisabled())
    {
      DriverStation.reportWarning("Configuration changes cannot be applied while the robot is enabled.", false);
    }
    cfg.apply(cfgGiven);
    configureSparkFlex(() -> motor.configure(cfg, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters));
  }

  /**
   * Set the voltage compensation for the swerve module motor.
   *
   * @param nominalVoltage Nominal voltage for operation to output to.
   */
  @Override
  public void setVoltageCompensation(double nominalVoltage)
  {
    cfg.voltageCompensation(nominalVoltage);
  }

  /**
   * Set the current limit for the swerve drive motor, remember this may cause jumping if used in conjunction with
   * voltage compensation. This is useful to protect the motor from current spikes.
   *
   * @param currentLimit Current limit in AMPS at free speed.
   */
  @Override
  public void setCurrentLimit(int currentLimit)
  {

    cfg.smartCurrentLimit(currentLimit);
  }

  /**
   * Set the maximum rate the open/closed loop output can change by.
   *
   * @param rampRate Time in seconds to go from 0 to full throttle.
   */
  @Override
  public void setLoopRampRate(double rampRate)
  {
    cfg.closedLoopRampRate(rampRate)
       .openLoopRampRate(rampRate);
  }

  /**
   * Get the motor object from the module.
   *
   * @return Motor object.
   */
  @Override
  public Object getMotor()
  {
    return motor;
  }

  /**
   * Get the {@link DCMotor} of the motor class.
   *
   * @return {@link DCMotor} of this type.
   */
  @Override
  public DCMotor getSimMotor()
  {
    if (simMotor == null)
    {
      simMotor = DCMotor.getNeoVortex(1);
    }
    return simMotor;
  }

  /**
   * Queries whether the absolute encoder is directly attached to the motor controller.
   *
   * @return connected absolute encoder state.
   */
  @Override
  public boolean usingExternalFeedbackSensor()
  {
    return absoluteEncoder.isPresent();
  }

  /**
   * Configure the factory defaults.
   */
  @Override
  public void factoryDefaults()
  {
    // Do nothing
  }

  /**
   * Clear the sticky faults on the motor controller.
   */
  @Override
  public void clearStickyFaults()
  {
    configureSparkFlex(motor::clearFaults);
  }

  /**
   * Set the absolute encoder to be a compatible absolute encoder.
   *
   * @param encoder The encoder to use.
   * @return The {@link SwerveMotor} for easy instantiation.
   */
  @Override
  public SwerveMotor setAbsoluteEncoder(SwerveAbsoluteEncoder encoder)
  {
    if (encoder == null)
    {
      this.absoluteEncoder = Optional.empty();
      cfg.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);

      velocity = this.encoder::getVelocity;
      position = this.encoder::getPosition;
    } else if (encoder.getAbsoluteEncoder() instanceof AbsoluteEncoder)
    {
      cfg.closedLoop.feedbackSensor(FeedbackSensor.kAbsoluteEncoder);
      this.absoluteEncoder = Optional.of(encoder);

      velocity = this.absoluteEncoder.get()::getVelocity;
      position = this.absoluteEncoder.get()::getAbsolutePosition;
    }
    return this;
  }

  /**
   * Configure the integrated encoder for the swerve module. Sets the conversion factors for position and velocity.
   *
   * @param positionConversionFactor The conversion factor to apply.
   */
  @Override
  public void configureIntegratedEncoder(double positionConversionFactor)
  {
    cfg.signals
        .absoluteEncoderPositionAlwaysOn(false)
        .absoluteEncoderVelocityAlwaysOn(false)
        .analogPositionAlwaysOn(false)
        .analogVelocityAlwaysOn(false)
        .analogVoltageAlwaysOn(false)
        .externalOrAltEncoderPositionAlwaysOn(false)
        .externalOrAltEncoderVelocityAlwaysOn(false)
        .primaryEncoderPositionAlwaysOn(false)
        .primaryEncoderVelocityAlwaysOn(false)
        .iAccumulationAlwaysOn(false)
        .appliedOutputPeriodMs(10)
        .faultsPeriodMs(20);
    cfg.closedLoop.feedbackSensor(FeedbackSensor.kPrimaryEncoder);

    cfg.encoder
        .positionConversionFactor(positionConversionFactor)
        .velocityConversionFactor(positionConversionFactor / 60);
    // Changes the measurement period and number of samples used to calculate the velocity for the intergrated motor controller
    // Notability this changes the returned velocity and the velocity used for the onboard velocity PID loop (TODO: triple check the PID portion of this statement)
    // Default settings of 32ms and 8 taps introduce ~100ms of measurement lag
    // https://www.chiefdelphi.com/t/shooter-encoder/400211/11
    // This value was taken from:
    // https://github.com/Mechanical-Advantage/RobotCode2023/blob/9884d13b2220b76d430e82248fd837adbc4a10bc/src/main/java/org/littletonrobotics/frc2023/subsystems/drive/ModuleIOSparkMax.java#L132-L133
    // and tested on 9176 for YAGSL, notably 3005 uses 16ms instead of 10 but 10 is more common based on github searches
    cfg.encoder
        .quadratureMeasurementPeriod(10)
        .quadratureAverageDepth(2);

    // Taken from
    // https://github.com/frc3512/SwerveBot-2022/blob/9d31afd05df6c630d5acb4ec2cf5d734c9093bf8/src/main/java/frc/lib/util/SparkMaxUtil.java#L67
    // Unused frames can be set to 65535 to decrease CAN ultilization.
    cfg.signals
        .primaryEncoderVelocityAlwaysOn(isDriveMotor) // Disable velocity reporting for angle motors.
        .primaryEncoderPositionAlwaysOn(true)
        .primaryEncoderPositionPeriodMs(20);


  }

  /**
   * Configure the PIDF values for the closed loop controller.
   *
   * @param config Configuration class holding the PIDF values.
   */
  @Override
  public void configurePIDF(PIDFConfig config)
  {
    cfg.closedLoop.pidf(config.p, config.i, config.d, config.f)
                  .iZone(config.iz)
                  .outputRange(config.output.min, config.output.max);
  }

  /**
   * Configure the PID wrapping for the position closed loop controller.
   *
   * @param minInput Minimum PID input.
   * @param maxInput Maximum PID input.
   */
  @Override
  public void configurePIDWrapping(double minInput, double maxInput)
  {
    cfg.closedLoop
        .positionWrappingEnabled(true)
        .positionWrappingInputRange(minInput, maxInput);

  }

  /**
   * Disable PID Wrapping on the motor.
   */
  @Override
  public void disablePIDWrapping()
  {
    cfg.closedLoop.positionWrappingEnabled(false);
  }

  /**
   * Set the idle mode.
   *
   * @param isBrakeMode Set the brake mode.
   */
  @Override
  public void setMotorBrake(boolean isBrakeMode)
  {
    cfg.idleMode(isBrakeMode ? IdleMode.kBrake : IdleMode.kCoast);
  }

  /**
   * Set the motor to be inverted.
   *
   * @param inverted State of inversion.
   */
  @Override
  public void setInverted(boolean inverted)
  {
    cfg.inverted(inverted);
  }

  /**
   * Save the configurations from flash to EEPROM.
   */
  @Override
  public void burnFlash()
  {
    configureSparkFlex(() -> {
      return motor.configure(cfg, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
    });
  }

  /**
   * Set the percentage output.
   *
   * @param percentOutput percent out for the motor controller.
   */
  @Override
  public void set(double percentOutput)
  {
    motor.set(percentOutput);
  }

  /**
   * Set the closed loop PID controller reference point.
   *
   * @param setpoint    Setpoint in MPS or Angle in degrees.
   * @param feedforward Feedforward in volt-meter-per-second or kV.
   */
  @Override
  public void setReference(double setpoint, double feedforward)
  {

    if (isDriveMotor)
    {
      configureSparkFlex(() ->
                             pid.setReference(
                                 setpoint,
                                 ControlType.kVelocity,
                                 ClosedLoopSlot.kSlot0,
                                 feedforward));
    } else
    {
      configureSparkFlex(() ->
                             pid.setReference(
                                 setpoint,
                                 ControlType.kPosition,
                                 ClosedLoopSlot.kSlot0,
                                 feedforward));
      if (SwerveDriveTelemetry.isSimulation)
      {
        encoder.setPosition(setpoint);
      }
    }
  }

  /**
   * Set the closed loop PID controller reference point.
   *
   * @param setpoint    Setpoint in meters per second or angle in degrees.
   * @param feedforward Feedforward in volt-meter-per-second or kV.
   * @param position    Only used on the angle motor, the position of the motor in degrees.
   */
  @Override
  public void setReference(double setpoint, double feedforward, double position)
  {
    setReference(setpoint, feedforward);
  }

  /**
   * Get the voltage output of the motor controller.
   *
   * @return Voltage output.
   */
  @Override
  public double getVoltage()
  {
    return motor.getAppliedOutput() * motor.getBusVoltage();
  }

  /**
   * Set the voltage of the motor.
   *
   * @param voltage Voltage to set.
   */
  @Override
  public void setVoltage(double voltage)
  {
    motor.setVoltage(voltage);
  }

  /**
   * Get the applied dutycycle output.
   *
   * @return Applied dutycycle output to the motor.
   */
  @Override
  public double getAppliedOutput()
  {
    return motor.getAppliedOutput();
  }

  /**
   * Get the velocity of the integrated encoder.
   *
   * @return velocity
   */
  @Override
  public double getVelocity()
  {
    return velocity.get();
  }

  /**
   * Get the position of the integrated encoder.
   *
   * @return Position
   */
  @Override
  public double getPosition()
  {
    return position.get();
  }

  /**
   * Set the integrated encoder position.
   *
   * @param position Integrated encoder position.
   */
  @Override
  public void setPosition(double position)
  {
    if (absoluteEncoder.isEmpty())
    {
      configureSparkFlex(() -> encoder.setPosition(position));
    }
  }

}