// 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 "frc/PWM.h"

#include <utility>

#include <hal/FRCUsageReporting.h>
#include <hal/HALBase.h>
#include <hal/PWM.h>
#include <hal/Ports.h>
#include <wpi/StackTrace.h>

#include "frc/Errors.h"
#include "frc/SensorUtil.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"

using namespace frc;

PWM::PWM(int channel, bool registerSendable) {
  if (!SensorUtil::CheckPWMChannel(channel)) {
    throw FRC_MakeError(err::ChannelIndexOutOfRange,
                        "PWM Channel " + wpi::Twine{channel});
    return;
  }

  auto stack = wpi::GetStackTrace(1);
  int32_t status = 0;
  m_handle =
      HAL_InitializePWMPort(HAL_GetPort(channel), stack.c_str(), &status);
  FRC_CheckErrorStatus(status, "PWM Channel " + wpi::Twine{channel});

  m_channel = channel;

  HAL_SetPWMDisabled(m_handle, &status);
  FRC_CheckErrorStatus(status, "SetPWMDisabled");
  status = 0;
  HAL_SetPWMEliminateDeadband(m_handle, false, &status);
  FRC_CheckErrorStatus(status, "SetPWMEliminateDeadband");

  HAL_Report(HALUsageReporting::kResourceType_PWM, channel + 1);
  if (registerSendable) {
    SendableRegistry::GetInstance().AddLW(this, "PWM", channel);
  }
}

PWM::~PWM() {
  int32_t status = 0;

  HAL_SetPWMDisabled(m_handle, &status);
  FRC_ReportError(status, "SetPWMDisabled");

  HAL_FreePWMPort(m_handle, &status);
  FRC_ReportError(status, "FreePWM");
}

void PWM::SetRaw(uint16_t value) {
  int32_t status = 0;
  HAL_SetPWMRaw(m_handle, value, &status);
  FRC_CheckErrorStatus(status, "SetRaw");
}

uint16_t PWM::GetRaw() const {
  int32_t status = 0;
  uint16_t value = HAL_GetPWMRaw(m_handle, &status);
  FRC_CheckErrorStatus(status, "GetRaw");

  return value;
}

void PWM::SetPosition(double pos) {
  int32_t status = 0;
  HAL_SetPWMPosition(m_handle, pos, &status);
  FRC_CheckErrorStatus(status, "SetPosition");
}

double PWM::GetPosition() const {
  int32_t status = 0;
  double position = HAL_GetPWMPosition(m_handle, &status);
  FRC_CheckErrorStatus(status, "GetPosition");
  return position;
}

void PWM::SetSpeed(double speed) {
  int32_t status = 0;
  HAL_SetPWMSpeed(m_handle, speed, &status);
  FRC_CheckErrorStatus(status, "SetSpeed");
}

double PWM::GetSpeed() const {
  int32_t status = 0;
  double speed = HAL_GetPWMSpeed(m_handle, &status);
  FRC_CheckErrorStatus(status, "GetSpeed");
  return speed;
}

void PWM::SetDisabled() {
  int32_t status = 0;
  HAL_SetPWMDisabled(m_handle, &status);
  FRC_CheckErrorStatus(status, "SetDisabled");
}

void PWM::SetPeriodMultiplier(PeriodMultiplier mult) {
  int32_t status = 0;

  switch (mult) {
    case kPeriodMultiplier_4X:
      HAL_SetPWMPeriodScale(m_handle, 3,
                            &status);  // Squelch 3 out of 4 outputs
      break;
    case kPeriodMultiplier_2X:
      HAL_SetPWMPeriodScale(m_handle, 1,
                            &status);  // Squelch 1 out of 2 outputs
      break;
    case kPeriodMultiplier_1X:
      HAL_SetPWMPeriodScale(m_handle, 0, &status);  // Don't squelch any outputs
      break;
    default:
      throw FRC_MakeError(err::InvalidParameter, "PeriodMultiplier value");
  }

  FRC_CheckErrorStatus(status, "SetPeriodMultiplier");
}

void PWM::SetZeroLatch() {
  int32_t status = 0;
  HAL_LatchPWMZero(m_handle, &status);
  FRC_CheckErrorStatus(status, "SetZeroLatch");
}

void PWM::EnableDeadbandElimination(bool eliminateDeadband) {
  int32_t status = 0;
  HAL_SetPWMEliminateDeadband(m_handle, eliminateDeadband, &status);
  FRC_CheckErrorStatus(status, "EnableDeadbandElimination");
}

void PWM::SetBounds(double max, double deadbandMax, double center,
                    double deadbandMin, double min) {
  int32_t status = 0;
  HAL_SetPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min,
                   &status);
  FRC_CheckErrorStatus(status, "SetBounds");
}

void PWM::SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
                       int min) {
  int32_t status = 0;
  HAL_SetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
                      &status);
  FRC_CheckErrorStatus(status, "SetRawBounds");
}

void PWM::GetRawBounds(int* max, int* deadbandMax, int* center,
                       int* deadbandMin, int* min) {
  int32_t status = 0;
  HAL_GetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
                      &status);
  FRC_CheckErrorStatus(status, "GetRawBounds");
}

int PWM::GetChannel() const {
  return m_channel;
}

void PWM::InitSendable(SendableBuilder& builder) {
  builder.SetSmartDashboardType("PWM");
  builder.SetActuator(true);
  builder.SetSafeState([=] { SetDisabled(); });
  builder.AddDoubleProperty(
      "Value", [=] { return GetRaw(); }, [=](double value) { SetRaw(value); });
}