/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2017 FIRST. 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.                                                               */
/*----------------------------------------------------------------------------*/

#include "Solenoid.h"

#include <HAL/HAL.h>
#include <HAL/Ports.h>
#include <HAL/Solenoid.h>
#include <llvm/SmallString.h>
#include <llvm/raw_ostream.h>

#include "LiveWindow/LiveWindow.h"
#include "WPIErrors.h"

using namespace frc;

/**
 * Constructor using the default PCM ID (0).
 *
 * @param channel The channel on the PCM to control (0..7).
 */
Solenoid::Solenoid(int channel)
    : Solenoid(GetDefaultSolenoidModule(), channel) {}

/**
 * Constructor.
 *
 * @param moduleNumber The CAN ID of the PCM the solenoid is attached to
 * @param channel      The channel on the PCM to control (0..7).
 */
Solenoid::Solenoid(int moduleNumber, int channel)
    : SolenoidBase(moduleNumber), m_channel(channel) {
  llvm::SmallString<32> str;
  llvm::raw_svector_ostream buf(str);
  if (!CheckSolenoidModule(m_moduleNumber)) {
    buf << "Solenoid Module " << m_moduleNumber;
    wpi_setWPIErrorWithContext(ModuleIndexOutOfRange, buf.str());
    return;
  }
  if (!CheckSolenoidChannel(m_channel)) {
    buf << "Solenoid Module " << m_channel;
    wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
    return;
  }

  int32_t status = 0;
  m_solenoidHandle = HAL_InitializeSolenoidPort(
      HAL_GetPortWithModule(moduleNumber, channel), &status);
  if (status != 0) {
    wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidChannels(),
                                 channel, HAL_GetErrorMessage(status));
    m_solenoidHandle = HAL_kInvalidHandle;
    return;
  }

  LiveWindow::GetInstance()->AddActuator("Solenoid", m_moduleNumber, m_channel,
                                         this);
  HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel,
             m_moduleNumber);
}

/**
 * Destructor.
 */
Solenoid::~Solenoid() {
  HAL_FreeSolenoidPort(m_solenoidHandle);
  if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
}

/**
 * Set the value of a solenoid.
 *
 * @param on Turn the solenoid output off or on.
 */
void Solenoid::Set(bool on) {
  if (StatusIsFatal()) return;
  int32_t status = 0;
  HAL_SetSolenoid(m_solenoidHandle, on, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}

/**
 * Read the current value of the solenoid.
 *
 * @return The current value of the solenoid.
 */
bool Solenoid::Get() const {
  if (StatusIsFatal()) return false;
  int32_t status = 0;
  bool value = HAL_GetSolenoid(m_solenoidHandle, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
  return value;
}

/**
 * Check if solenoid is blacklisted.
 *
 * If a solenoid is shorted, it is added to the blacklist and
 * disabled until power cycle, or until faults are cleared.
 *
 * @see ClearAllPCMStickyFaults()
 *
 * @return If solenoid is disabled due to short.
 */
bool Solenoid::IsBlackListed() const {
  int value = GetPCMSolenoidBlackList(m_moduleNumber) & (1 << m_channel);
  return (value != 0);
}

/**
 * Set the pulse duration in the PCM. This is used in conjunction with
 * the startPulse method to allow the PCM to control the timing of a pulse.
 * The timing can be controlled in 0.01 second increments.
 *
 * @param durationSeconds The duration of the pulse, from 0.01 to 2.55 seconds.
 *
 * @see startPulse()
 */
void Solenoid::SetPulseDuration(double durationSeconds) {
  int32_t durationMS = durationSeconds * 1000;
  if (StatusIsFatal()) return;
  int32_t status = 0;
  HAL_SetOneShotDuration(m_solenoidHandle, durationMS, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}

/**
 * Trigger the PCM to generate a pulse of the duration set in
 * setPulseDuration.
 *
 * @see setPulseDuration()
 */
void Solenoid::StartPulse() {
  if (StatusIsFatal()) return;
  int32_t status = 0;
  HAL_FireOneShot(m_solenoidHandle, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}

void Solenoid::UpdateTable() {
  if (m_valueEntry) m_valueEntry.SetBoolean(Get());
}

void Solenoid::StartLiveWindowMode() {
  Set(false);
  if (m_valueEntry) {
    m_valueEntry.AddListener(
        [=](const nt::EntryNotification& event) {
          if (!event.value->IsBoolean()) return;
          Set(event.value->GetBoolean());
        },
        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
  }
}

void Solenoid::StopLiveWindowMode() {
  Set(false);
  if (m_valueListener != 0) m_valueEntry.RemoveListener(m_valueListener);
}

std::string Solenoid::GetSmartDashboardType() const { return "Solenoid"; }

void Solenoid::InitTable(std::shared_ptr<nt::NetworkTable> subTable) {
  if (subTable) {
    m_valueEntry = subTable->GetEntry("Value");
    UpdateTable();
  } else {
    m_valueEntry = nt::NetworkTableEntry();
  }
}