// 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.

package edu.wpi.first.wpilibj;

import edu.wpi.first.hal.AnalogJNI;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.util.BoundaryException;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
import java.lang.ref.Reference;

/** Class for creating and configuring Analog Triggers. */
public class AnalogTrigger implements Sendable, AutoCloseable {
  /** Where the analog trigger is attached. */
  protected int m_port;

  private AnalogInput m_analogInput;

  private DutyCycle m_dutyCycle;

  private boolean m_ownsAnalog;

  /**
   * Constructor for an analog trigger given a channel number.
   *
   * @param channel the port to use for the analog trigger
   */
  @SuppressWarnings("this-escape")
  public AnalogTrigger(final int channel) {
    this(new AnalogInput(channel));
    m_ownsAnalog = true;
    SendableRegistry.addChild(this, m_analogInput);
  }

  /**
   * Construct an analog trigger given an analog channel. This should be used in the case of sharing
   * an analog channel between the trigger and an analog input object.
   *
   * @param channel the AnalogInput to use for the analog trigger
   */
  @SuppressWarnings("this-escape")
  public AnalogTrigger(AnalogInput channel) {
    m_analogInput = channel;

    m_port = AnalogJNI.initializeAnalogTrigger(channel.m_port);

    int index = getIndex();

    HAL.report(tResourceType.kResourceType_AnalogTrigger, index + 1);
    SendableRegistry.addLW(this, "AnalogTrigger", index);
  }

  /**
   * Construct an analog trigger given a duty cycle input.
   *
   * @param input the DutyCycle to use for the analog trigger
   */
  @SuppressWarnings("this-escape")
  public AnalogTrigger(DutyCycle input) {
    m_dutyCycle = input;

    m_port = AnalogJNI.initializeAnalogTriggerDutyCycle(input.m_handle);

    int index = getIndex();

    HAL.report(tResourceType.kResourceType_AnalogTrigger, index + 1);
    SendableRegistry.addLW(this, "AnalogTrigger", index);
  }

  @Override
  public void close() {
    try {
      SendableRegistry.remove(this);
      AnalogJNI.cleanAnalogTrigger(m_port);
      m_port = 0;
      if (m_ownsAnalog && m_analogInput != null) {
        m_analogInput.close();
      }
    } finally {
      Reference.reachabilityFence(m_dutyCycle);
    }
  }

  /**
   * Set the upper and lower limits of the analog trigger. The limits are given in ADC codes. If
   * oversampling is used, the units must be scaled appropriately.
   *
   * @param lower the lower raw limit
   * @param upper the upper raw limit
   */
  public void setLimitsRaw(final int lower, final int upper) {
    if (lower > upper) {
      throw new BoundaryException("Lower bound is greater than upper");
    }
    AnalogJNI.setAnalogTriggerLimitsRaw(m_port, lower, upper);
  }

  /**
   * Set the upper and lower limits of the analog trigger. The limits are given as floating point
   * values between 0 and 1.
   *
   * @param lower the lower duty cycle limit
   * @param upper the upper duty cycle limit
   */
  public void setLimitsDutyCycle(double lower, double upper) {
    if (lower > upper) {
      throw new BoundaryException("Lower bound is greater than upper bound");
    }
    AnalogJNI.setAnalogTriggerLimitsDutyCycle(m_port, lower, upper);
  }

  /**
   * Set the upper and lower limits of the analog trigger. The limits are given as floating point
   * voltage values.
   *
   * @param lower the lower voltage limit
   * @param upper the upper voltage limit
   */
  public void setLimitsVoltage(double lower, double upper) {
    if (lower > upper) {
      throw new BoundaryException("Lower bound is greater than upper bound");
    }
    AnalogJNI.setAnalogTriggerLimitsVoltage(m_port, lower, upper);
  }

  /**
   * Configure the analog trigger to use the averaged vs. raw values. If the value is true, then the
   * averaged value is selected for the analog trigger, otherwise the immediate value is used.
   *
   * @param useAveragedValue true to use an averaged value, false otherwise
   */
  public void setAveraged(boolean useAveragedValue) {
    AnalogJNI.setAnalogTriggerAveraged(m_port, useAveragedValue);
  }

  /**
   * Configure the analog trigger to use a filtered value. The analog trigger will operate with a 3
   * point average rejection filter. This is designed to help with 360 degree pot applications for
   * the period where the pot crosses through zero.
   *
   * @param useFilteredValue true to use a filtered value, false otherwise
   */
  public void setFiltered(boolean useFilteredValue) {
    AnalogJNI.setAnalogTriggerFiltered(m_port, useFilteredValue);
  }

  /**
   * Return the index of the analog trigger. This is the FPGA index of this analog trigger instance.
   *
   * @return The index of the analog trigger.
   */
  public final int getIndex() {
    return AnalogJNI.getAnalogTriggerFPGAIndex(m_port);
  }

  /**
   * Return the InWindow output of the analog trigger. True if the analog input is between the upper
   * and lower limits.
   *
   * @return The InWindow output of the analog trigger.
   */
  public boolean getInWindow() {
    return AnalogJNI.getAnalogTriggerInWindow(m_port);
  }

  /**
   * Return the TriggerState output of the analog trigger. True if above upper limit. False if below
   * lower limit. If in Hysteresis, maintain previous state.
   *
   * @return The TriggerState output of the analog trigger.
   */
  public boolean getTriggerState() {
    return AnalogJNI.getAnalogTriggerTriggerState(m_port);
  }

  /**
   * Creates an AnalogTriggerOutput object. Gets an output object that can be used for routing.
   * Caller is responsible for deleting the AnalogTriggerOutput object.
   *
   * @param type An enum of the type of output object to create.
   * @return A pointer to a new AnalogTriggerOutput object.
   */
  public AnalogTriggerOutput createOutput(AnalogTriggerType type) {
    return new AnalogTriggerOutput(this, type);
  }

  @Override
  public void initSendable(SendableBuilder builder) {
    if (m_ownsAnalog) {
      m_analogInput.initSendable(builder);
    }
  }
}