package swervelib.parser.json;

import edu.wpi.first.math.util.Units;
import swervelib.encoders.SwerveAbsoluteEncoder;
import swervelib.motors.SwerveMotor;
import swervelib.parser.PIDFConfig;
import swervelib.parser.SwerveModuleConfiguration;
import swervelib.parser.SwerveModulePhysicalCharacteristics;
import swervelib.parser.json.modules.BoolMotorJson;
import swervelib.parser.json.modules.LocationJson;

/**
 * {@link swervelib.SwerveModule} JSON parsed class. Used to access the JSON data.
 */
public class ModuleJson
{

  /**
   * Drive motor device configuration.
   */
  public DeviceJson    drive;
  /**
   * Angle motor device configuration.
   */
  public DeviceJson    angle;
  /**
   * Absolute encoder device configuration.
   */
  public DeviceJson    encoder;
  /**
   * Defines which motors are inverted.
   */
  public BoolMotorJson inverted;
  /**
   * Absolute encoder offset from 0 in degrees.
   */
  public double        absoluteEncoderOffset;
  /**
   * Absolute encoder inversion state.
   */
  public boolean       absoluteEncoderInverted = false;
  /**
   * The location of the swerve module from the center of the robot in inches.
   */
  public LocationJson  location;

  /**
   * Create the swerve module configuration based off of parsed data.
   *
   * @param anglePIDF               The PIDF values for the angle motor.
   * @param velocityPIDF            The velocity PIDF values for the drive motor.
   * @param maxSpeed                The maximum speed of the robot in meters per second.
   * @param physicalCharacteristics Physical characteristics of the swerve module.
   * @return {@link SwerveModuleConfiguration} based on the provided data and parsed data.
   */
  public SwerveModuleConfiguration createModuleConfiguration(PIDFConfig anglePIDF, PIDFConfig velocityPIDF,
                                                             double maxSpeed,
                                                             SwerveModulePhysicalCharacteristics physicalCharacteristics)
  {
    SwerveMotor           angleMotor = angle.createMotor(false);
    SwerveAbsoluteEncoder absEncoder = encoder.createEncoder();

    // If the absolute encoder is attached.
    if (absEncoder == null)
    {
      absEncoder = angle.createIntegratedEncoder(angleMotor);
      angleMotor.setAbsoluteEncoder(absEncoder);
    }

    return new SwerveModuleConfiguration(drive.createMotor(true), angleMotor, absEncoder,
                                         absoluteEncoderOffset, Units.inchesToMeters(location.x),
                                         Units.inchesToMeters(location.y), anglePIDF, velocityPIDF, maxSpeed,
                                         physicalCharacteristics, absoluteEncoderInverted, inverted.drive,
                                         inverted.angle);
  }
}