#include "AnalogPotentiometer.h"
#include "ControllerPower.h"

/**
 * Construct an Analog Potentiometer object from a channel number.
 * @param channel The channel number on the roboRIO to represent. 0-3 are
 * on-board 4-7 are on the MXP port.
 * @param fullRange The angular value (in desired units) representing the full
 * 0-5V range of the input.
 * @param offset The angular value (in desired units) representing the angular
 * output at 0V.
 */
AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange,
                                         double offset)
    : m_analog_input(::std::make_unique<AnalogInput>(channel)),
      m_fullRange(fullRange),
      m_offset(offset) {}

/**
 * Construct an Analog Potentiometer object from an existing Analog Input
 * pointer.
 * @param channel The existing Analog Input pointer
 * @param fullRange The angular value (in desired units) representing the full
 * 0-5V range of the input.
 * @param offset The angular value (in desired units) representing the angular
 * output at 0V.
 */
AnalogPotentiometer::AnalogPotentiometer(AnalogInput *input, double fullRange,
                                         double offset)
    : m_analog_input(input, NullDeleter<AnalogInput>()),
      m_fullRange(fullRange),
      m_offset(offset) {}

/**
 * Construct an Analog Potentiometer object from an existing Analog Input
 * pointer.
 * @param channel The existing Analog Input pointer
 * @param fullRange The angular value (in desired units) representing the full
 * 0-5V range of the input.
 * @param offset The angular value (in desired units) representing the angular
 * output at 0V.
 */
AnalogPotentiometer::AnalogPotentiometer(::std::shared_ptr<AnalogInput> input,
                                         double fullRange, double offset)
    : m_analog_input(input), m_fullRange(fullRange), m_offset(offset) {}

/**
 * Get the current reading of the potentiometer.
 *
 * @return The current position of the potentiometer (in the units used for
 * fullRaneg and offset).
 */
double AnalogPotentiometer::Get() const {
  return (m_analog_input->GetVoltage() / ControllerPower::GetVoltage5V()) *
             m_fullRange +
         m_offset;
}

/**
 * Implement the PIDSource interface.
 *
 * @return The current reading.
 */
double AnalogPotentiometer::PIDGet() const { return Get(); }

/**
 * @return the Smart Dashboard Type
 */
std::string AnalogPotentiometer::GetSmartDashboardType() const {
  return "Analog Input";
}

/**
 * Live Window code, only does anything if live window is activated.
 */
void AnalogPotentiometer::InitTable(::std::shared_ptr<ITable> subtable) {
  m_table = subtable;
  UpdateTable();
}

void AnalogPotentiometer::UpdateTable() {
  if (m_table != nullptr) {
    m_table->PutNumber("Value", Get());
  }
}

::std::shared_ptr<ITable> AnalogPotentiometer::GetTable() const { return m_table; }