/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. 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 the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#pragma once

#include <memory>
#include <string>

#include "LiveWindow/LiveWindowSendable.h"
#include "PIDSource.h"
#include "SensorBase.h"
#include "simulation/SimFloatInput.h"

/**
 * Analog input class.
 *
 * Connected to each analog channel is an averaging and oversampling engine.
 * This engine accumulates the specified ( by SetAverageBits() and
 * SetOversampleBits() ) number of samples before returning a new value.  This
 * is not a sliding window average.  The only difference between the
 * oversampled samples and the averaged samples is that the oversampled samples
 * are simply accumulated effectively increasing the resolution, while the
 * averaged samples are divided by the number of samples to retain the
 * resolution, but get more stable values.
 */
class AnalogInput : public SensorBase,
                    public PIDSource,
                    public LiveWindowSendable {
 public:
  static const int kAccumulatorModuleNumber = 1;
  static const int kAccumulatorNumChannels = 2;
  static const int kAccumulatorChannels[kAccumulatorNumChannels];

  explicit AnalogInput(int channel);
  virtual ~AnalogInput() = default;

  float GetVoltage() const;
  float GetAverageVoltage() const;

  int GetChannel() const;

  double PIDGet() override;

  void UpdateTable() override;
  void StartLiveWindowMode() override;
  void StopLiveWindowMode() override;
  std::string GetSmartDashboardType() const override;
  void InitTable(std::shared_ptr<ITable> subTable) override;
  std::shared_ptr<ITable> GetTable() const override;

 private:
  int m_channel;
  SimFloatInput* m_impl;
  int64_t m_accumulatorOffset;

  std::shared_ptr<ITable> m_table;
};