/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2017 FIRST. 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.                                                               */
/*----------------------------------------------------------------------------*/

#include "HAL/PWM.h"
#include "PWM.h"

#include "HAL/HAL.h"
#include "HAL/Ports.h"
#include "Utility.h"
#include "WPIErrors.h"
#include "llvm/SmallString.h"
#include "llvm/raw_ostream.h"

using namespace frc;

/**
 * Allocate a PWM given a channel number.
 *
 * Checks channel value range and allocates the appropriate channel.
 * The allocation is only done to help users ensure that they don't double
 * assign channels.
 *
 * @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the
 *                MXP port
 */
PWM::PWM(int channel) {
  llvm::SmallString<32> str;
  llvm::raw_svector_ostream buf(str);

  if (!CheckPWMChannel(channel)) {
    buf << "PWM Channel " << channel;
    wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
    return;
  }

  int32_t status = 0;
  m_handle = HAL_InitializePWMPort(HAL_GetPort(channel), &status);
  if (status != 0) {
    wpi_setErrorWithContextRange(status, 0, HAL_GetNumPWMChannels(), channel,
                                 HAL_GetErrorMessage(status));
    m_channel = std::numeric_limits<int>::max();
    m_handle = HAL_kInvalidHandle;
    return;
  }

  m_channel = channel;

  HAL_SetPWMDisabled(m_handle, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
  status = 0;
  HAL_SetPWMEliminateDeadband(m_handle, false, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));

  HAL_Report(HALUsageReporting::kResourceType_PWM, channel);
}

/**
 * Free the PWM channel.
 *
 * Free the resource associated with the PWM channel and set the value to 0.
 */
PWM::~PWM() {
  int32_t status = 0;

  HAL_SetPWMDisabled(m_handle, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));

  HAL_FreePWMPort(m_handle, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));

  if (m_table != nullptr) m_table->RemoveTableListener(this);
}

/**
 * Optionally eliminate the deadband from a speed controller.
 *
 * @param eliminateDeadband If true, set the motor curve on the Jaguar to
 *                          eliminate the deadband in the middle of the range.
 *                          Otherwise, keep the full range without modifying
 *                          any values.
 */
void PWM::EnableDeadbandElimination(bool eliminateDeadband) {
  if (StatusIsFatal()) return;
  int32_t status = 0;
  HAL_SetPWMEliminateDeadband(m_handle, eliminateDeadband, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}

/**
 * Set the bounds on the PWM pulse widths.
 *
 * This sets the bounds on the PWM values for a particular type of controller.
 * The values determine the upper and lower speeds as well as the deadband
 * bracket.
 *
 * @param max         The max PWM pulse width in ms
 * @param deadbandMax The high end of the deadband range pulse width in ms
 * @param center      The center (off) pulse width in ms
 * @param deadbandMin The low end of the deadband pulse width in ms
 * @param min         The minimum pulse width in ms
 */
void PWM::SetBounds(double max, double deadbandMax, double center,
                    double deadbandMin, double min) {
  if (StatusIsFatal()) return;
  int32_t status = 0;
  HAL_SetPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min,
                   &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}

/**
 * Set the bounds on the PWM values.
 *
 * This sets the bounds on the PWM values for a particular each type of
 * controller. The values determine the upper and lower speeds as well as the
 * deadband bracket.
 *
 * @param max         The Minimum pwm value
 * @param deadbandMax The high end of the deadband range
 * @param center      The center speed (off)
 * @param deadbandMin The low end of the deadband range
 * @param min         The minimum pwm value
 */
void PWM::SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
                       int min) {
  if (StatusIsFatal()) return;
  int32_t status = 0;
  HAL_SetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
                      &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}

/**
 * Get the bounds on the PWM values.
 *
 * This Gets the bounds on the PWM values for a particular each type of
 * controller. The values determine the upper and lower speeds as well as the
 * deadband bracket.
 *
 * @param max         The Minimum pwm value
 * @param deadbandMax The high end of the deadband range
 * @param center      The center speed (off)
 * @param deadbandMin The low end of the deadband range
 * @param min         The minimum pwm value
 */
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);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}

/**
 * Set the PWM value based on a position.
 *
 * This is intended to be used by servos.
 *
 * @pre SetMaxPositivePwm() called.
 * @pre SetMinNegativePwm() called.
 *
 * @param pos The position to set the servo between 0.0 and 1.0.
 */
void PWM::SetPosition(double pos) {
  if (StatusIsFatal()) return;
  int32_t status = 0;
  HAL_SetPWMPosition(m_handle, pos, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}

/**
 * Get the PWM value in terms of a position.
 *
 * This is intended to be used by servos.
 *
 * @pre SetMaxPositivePwm() called.
 * @pre SetMinNegativePwm() called.
 *
 * @return The position the servo is set to between 0.0 and 1.0.
 */
double PWM::GetPosition() const {
  if (StatusIsFatal()) return 0.0;
  int32_t status = 0;
  double position = HAL_GetPWMPosition(m_handle, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
  return position;
}

/**
 * Set the PWM value based on a speed.
 *
 * This is intended to be used by speed controllers.
 *
 * @pre SetMaxPositivePwm() called.
 * @pre SetMinPositivePwm() called.
 * @pre SetCenterPwm() called.
 * @pre SetMaxNegativePwm() called.
 * @pre SetMinNegativePwm() called.
 *
 * @param speed The speed to set the speed controller between -1.0 and 1.0.
 */
void PWM::SetSpeed(double speed) {
  if (StatusIsFatal()) return;
  int32_t status = 0;
  HAL_SetPWMSpeed(m_handle, speed, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}

/**
 * Get the PWM value in terms of speed.
 *
 * This is intended to be used by speed controllers.
 *
 * @pre SetMaxPositivePwm() called.
 * @pre SetMinPositivePwm() called.
 * @pre SetMaxNegativePwm() called.
 * @pre SetMinNegativePwm() called.
 *
 * @return The most recently set speed between -1.0 and 1.0.
 */
double PWM::GetSpeed() const {
  if (StatusIsFatal()) return 0.0;
  int32_t status = 0;
  double speed = HAL_GetPWMSpeed(m_handle, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
  return speed;
}

/**
 * Set the PWM value directly to the hardware.
 *
 * Write a raw value to a PWM channel.
 *
 * @param value Raw PWM value.
 */
void PWM::SetRaw(uint16_t value) {
  if (StatusIsFatal()) return;

  int32_t status = 0;
  HAL_SetPWMRaw(m_handle, value, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}

/**
 * Get the PWM value directly from the hardware.
 *
 * Read a raw value from a PWM channel.
 *
 * @return Raw PWM control value.
 */
uint16_t PWM::GetRaw() const {
  if (StatusIsFatal()) return 0;

  int32_t status = 0;
  uint16_t value = HAL_GetPWMRaw(m_handle, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));

  return value;
}

/**
 * Slow down the PWM signal for old devices.
 *
 * @param mult The period multiplier to apply to this channel
 */
void PWM::SetPeriodMultiplier(PeriodMultiplier mult) {
  if (StatusIsFatal()) return;

  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:
      wpi_assert(false);
  }

  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}

/**
 * Temporarily disables the PWM output. The next set call will reenable
 * the output.
 */
void PWM::SetDisabled() {
  if (StatusIsFatal()) return;

  int32_t status = 0;

  HAL_SetPWMDisabled(m_handle, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}

void PWM::SetZeroLatch() {
  if (StatusIsFatal()) return;

  int32_t status = 0;

  HAL_LatchPWMZero(m_handle, &status);
  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}

void PWM::ValueChanged(ITable* source, llvm::StringRef key,
                       std::shared_ptr<nt::Value> value, bool isNew) {
  if (!value->IsDouble()) return;
  SetSpeed(value->GetDouble());
}

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

void PWM::StartLiveWindowMode() {
  SetSpeed(0);
  if (m_table != nullptr) {
    m_table->AddTableListener("Value", this, true);
  }
}

void PWM::StopLiveWindowMode() {
  SetSpeed(0);
  if (m_table != nullptr) {
    m_table->RemoveTableListener(this);
  }
}

std::string PWM::GetSmartDashboardType() const { return "Speed Controller"; }

void PWM::InitTable(std::shared_ptr<ITable> subTable) {
  m_table = subTable;
  UpdateTable();
}

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