/*----------------------------------------------------------------------------*/
/* 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 "SensorBase.h"
#include "PIDSource.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "simulation/SimGyro.h"

#include <memory>

class AnalogInput;
class AnalogModule;

/**
 * Use a rate gyro to return the robots heading relative to a starting position.
 * The Gyro class tracks the robots heading based on the starting position. As the robot
 * rotates the new heading is computed by integrating the rate of rotation returned
 * by the sensor. When the class is instantiated, it does a short calibration routine
 * where it samples the gyro while at rest to determine the default offset. This is
 * subtracted from each sample to determine the heading. This gyro class must be used
 * with a channel that is assigned one of the Analog accumulators from the FPGA. See
 * AnalogInput for the current accumulator assignments.
 */
class Gyro : public SensorBase, public PIDSource, public LiveWindowSendable
{
public:
	static const uint32_t kOversampleBits;
	static const uint32_t kAverageBits;
	static const float kSamplesPerSecond;
	static const float kCalibrationSampleTime;
	static const float kDefaultVoltsPerDegreePerSecond;

	explicit Gyro(uint32_t channel);
	virtual ~Gyro() = default;
	virtual float GetAngle() const;
	virtual double GetRate() const;
	virtual void Reset();

	// PIDSource interface
	void SetPIDSourceType(PIDSourceType pidSource) override;
	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:
	void InitGyro(int channel);

	SimGyro* impl;

	std::shared_ptr<ITable> m_table;
};