// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#include "hal/PWM.h"

#include <algorithm>
#include <cmath>
#include <cstdio>
#include <thread>

#include <fmt/format.h>
#include <wpi/print.h>

#include "HALInitializer.h"
#include "HALInternal.h"
#include "PortsInternal.h"
#include "hal/Errors.h"
#include "hal/cpp/fpga_clock.h"
#include "hal/handles/HandlesInternal.h"

using namespace hal;

namespace hal::init {
void InitializePWM() {}
}  // namespace hal::init

extern "C" {

HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
                                        const char* allocationLocation,
                                        int32_t* status) {
  hal::init::CheckInit();
  *status = HAL_HANDLE_ERROR;
  return HAL_kInvalidHandle;
}

void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle) {}

HAL_Bool HAL_CheckPWMChannel(int32_t channel) {
  return false;
}

void HAL_SetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle, int32_t max,
                                  int32_t deadbandMax, int32_t center,
                                  int32_t deadbandMin, int32_t min,
                                  int32_t* status) {
  *status = HAL_HANDLE_ERROR;
  return;
}

void HAL_GetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle,
                                  int32_t* maxPwm, int32_t* deadbandMaxPwm,
                                  int32_t* centerPwm, int32_t* deadbandMinPwm,
                                  int32_t* minPwm, int32_t* status) {
  *status = HAL_HANDLE_ERROR;
  return;
}

void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
                                 HAL_Bool eliminateDeadband, int32_t* status) {
  *status = HAL_HANDLE_ERROR;
  return;
}

HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle,
                                     int32_t* status) {
  *status = HAL_HANDLE_ERROR;
  return false;
}

void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
                                     int32_t microsecondPulseTime,
                                     int32_t* status) {
  *status = HAL_HANDLE_ERROR;
  return;
}

void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed,
                     int32_t* status) {
  *status = HAL_HANDLE_ERROR;
  return;
}

void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos,
                        int32_t* status) {
  *status = HAL_HANDLE_ERROR;
  return;
}

void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
  *status = HAL_HANDLE_ERROR;
  return;
}

int32_t HAL_GetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle,
                                        int32_t* status) {
  *status = HAL_HANDLE_ERROR;
  return 0;
}

double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
  *status = HAL_HANDLE_ERROR;
  return 0;
}

double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
  *status = HAL_HANDLE_ERROR;
  return 0;
}

void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
  *status = HAL_HANDLE_ERROR;
  return;
}

void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask,
                           int32_t* status) {
  *status = HAL_HANDLE_ERROR;
  return;
}

void HAL_SetPWMAlwaysHighMode(HAL_DigitalHandle pwmPortHandle,
                              int32_t* status) {
  *status = HAL_HANDLE_ERROR;
  return;
}

int32_t HAL_GetPWMLoopTiming(int32_t* status) {
  *status = HAL_HANDLE_ERROR;
  return 0;
}

uint64_t HAL_GetPWMCycleStartTime(int32_t* status) {
  *status = HAL_HANDLE_ERROR;
  return 0;
}

}  // extern "C"