/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/
#pragma once

#include "ErrorBase.h"
#include <stdlib.h>
#include "HAL/HAL.hpp"
#include "MotorSafety.h"
#include "MotorSafetyHelper.h"

class SpeedController;
class GenericHID;

/**
 * Utility class for handling Robot drive based on a definition of the motor configuration.
 * The robot drive class handles basic driving for a robot. Currently, 2 and 4 motor standard
 * drive trains are supported. In the future other drive types like swerve and meccanum might
 * be implemented. Motor channel numbers are passed supplied on creation of the class. Those are
 * used for either the Drive function (intended for hand created drive code, such as autonomous)
 * or with the Tank/Arcade functions intended to be used for Operator Control driving.
 */
class RobotDrive : public MotorSafety, public ErrorBase
{
public:
	enum MotorType
	{
		kFrontLeftMotor = 0,
		kFrontRightMotor = 1,
		kRearLeftMotor = 2,
		kRearRightMotor = 3
	};

	RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel);
	RobotDrive(uint32_t frontLeftMotorChannel, uint32_t rearLeftMotorChannel,
			uint32_t frontRightMotorChannel, uint32_t rearRightMotorChannel);
	RobotDrive(SpeedController *leftMotor, SpeedController *rightMotor);
	RobotDrive(SpeedController &leftMotor, SpeedController &rightMotor);
	RobotDrive(SpeedController *frontLeftMotor, SpeedController *rearLeftMotor,
			SpeedController *frontRightMotor, SpeedController *rearRightMotor);
	RobotDrive(SpeedController &frontLeftMotor, SpeedController &rearLeftMotor,
			SpeedController &frontRightMotor, SpeedController &rearRightMotor);
	virtual ~RobotDrive();

	void Drive(float outputMagnitude, float curve);
	void TankDrive(GenericHID *leftStick, GenericHID *rightStick, bool squaredInputs = true);
	void TankDrive(GenericHID &leftStick, GenericHID &rightStick, bool squaredInputs = true);
	void TankDrive(GenericHID *leftStick, uint32_t leftAxis, GenericHID *rightStick,
			uint32_t rightAxis, bool squaredInputs = true);
	void TankDrive(GenericHID &leftStick, uint32_t leftAxis, GenericHID &rightStick,
			uint32_t rightAxis, bool squaredInputs = true);
	void TankDrive(float leftValue, float rightValue, bool squaredInputs = true);
	void ArcadeDrive(GenericHID *stick, bool squaredInputs = true);
	void ArcadeDrive(GenericHID &stick, bool squaredInputs = true);
	void ArcadeDrive(GenericHID *moveStick, uint32_t moveChannel, GenericHID *rotateStick,
			uint32_t rotateChannel, bool squaredInputs = true);
	void ArcadeDrive(GenericHID &moveStick, uint32_t moveChannel, GenericHID &rotateStick,
			uint32_t rotateChannel, bool squaredInputs = true);
	void ArcadeDrive(float moveValue, float rotateValue, bool squaredInputs = true);
	void MecanumDrive_Cartesian(float x, float y, float rotation, float gyroAngle = 0.0);
	void MecanumDrive_Polar(float magnitude, float direction, float rotation);
	void HolonomicDrive(float magnitude, float direction, float rotation);
	virtual void SetLeftRightMotorOutputs(float leftOutput, float rightOutput);
	void SetInvertedMotor(MotorType motor, bool isInverted);
	void SetSensitivity(float sensitivity);
	void SetMaxOutput(double maxOutput);

	void SetExpiration(float timeout);
	float GetExpiration();
	bool IsAlive();
	void StopMotor();
	bool IsSafetyEnabled();
	void SetSafetyEnabled(bool enabled);
	void GetDescription(char *desc);

protected:
	void InitRobotDrive();
	float Limit(float num);
	void Normalize(double *wheelSpeeds);
	void RotateVector(double &x, double &y, double angle);

	static const int32_t kMaxNumberOfMotors = 4;

	int32_t m_invertedMotors[kMaxNumberOfMotors];
	float m_sensitivity;
	double m_maxOutput;
	bool m_deleteSpeedControllers;
	SpeedController *m_frontLeftMotor;
	SpeedController *m_frontRightMotor;
	SpeedController *m_rearLeftMotor;
	SpeedController *m_rearRightMotor;
	MotorSafetyHelper *m_safetyHelper;

private:
	int32_t GetNumMotors()
	{
		int motors = 0;
		if (m_frontLeftMotor)
			motors++;
		if (m_frontRightMotor)
			motors++;
		if (m_rearLeftMotor)
			motors++;
		if (m_rearRightMotor)
			motors++;
		return motors;
	}
	DISALLOW_COPY_AND_ASSIGN(RobotDrive);
};
