// 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 <units/time.h>

#include "frc/Encoder.h"
#include "frc/RobotController.h"
#include "frc/controller/PIDController.h"
#include "frc/motorcontrol/PWMVictorSPX.h"
#include "frc/simulation/ElevatorSim.h"
#include "frc/simulation/EncoderSim.h"
#include "frc/system/NumericalIntegration.h"
#include "frc/system/plant/DCMotor.h"
#include "frc/system/plant/LinearSystemId.h"
#include "gtest/gtest.h"

TEST(ElevatorSimTest, StateSpaceSim) {
  frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 14.67, 8_kg,
                            units::meter_t(0.75 * 25.4 / 1000.0), 0_m, 3_m,
                            {0.01});
  frc2::PIDController controller(10, 0.0, 0.0);

  frc::PWMVictorSPX motor(0);
  frc::Encoder encoder(0, 1);
  frc::sim::EncoderSim encoderSim(encoder);

  for (size_t i = 0; i < 100; ++i) {
    controller.SetSetpoint(2.0);
    auto nextVoltage = controller.Calculate(encoderSim.GetDistance());
    motor.Set(nextVoltage / frc::RobotController::GetInputVoltage());

    Eigen::Vector<double, 1> u{motor.Get() *
                               frc::RobotController::GetInputVoltage()};
    sim.SetInput(u);
    sim.Update(20_ms);

    const auto& y = sim.GetOutput();
    encoderSim.SetDistance(y(0));
  }

  EXPECT_NEAR(controller.GetSetpoint(), sim.GetPosition().value(), 0.2);
}

TEST(ElevatorSimTest, MinMax) {
  frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 14.67, 8_kg,
                            units::meter_t(0.75 * 25.4 / 1000.0), 0_m, 1_m,
                            {0.01});
  for (size_t i = 0; i < 100; ++i) {
    sim.SetInput(Eigen::Vector<double, 1>{0.0});
    sim.Update(20_ms);

    auto height = sim.GetPosition();
    EXPECT_TRUE(height > -0.05_m);
  }

  for (size_t i = 0; i < 100; ++i) {
    sim.SetInput(Eigen::Vector<double, 1>{12.0});
    sim.Update(20_ms);

    auto height = sim.GetPosition();
    EXPECT_TRUE(height < 1.05_m);
  }
}

TEST(ElevatorSimTest, Stability) {
  static constexpr double kElevatorGearing = 100.0;
  static constexpr units::meter_t kElevatorDrumRadius = 0.5_in;
  static constexpr units::kilogram_t kCarriageMass = 4.0_kg;
  frc::DCMotor m_elevatorGearbox = frc::DCMotor::Vex775Pro(4);

  frc::LinearSystem<2, 1, 1> system = frc::LinearSystemId::ElevatorSystem(
      m_elevatorGearbox, kCarriageMass, kElevatorDrumRadius, kElevatorGearing);

  Eigen::Vector<double, 2> x0{0.0, 0.0};
  Eigen::Vector<double, 1> u0{12.0};

  Eigen::Vector<double, 2> x1{0.0, 0.0};
  for (size_t i = 0; i < 50; i++) {
    x1 = frc::RKDP(
        [&](const Eigen::Vector<double, 2>& x,
            const Eigen::Vector<double, 1>& u) -> Eigen::Vector<double, 2> {
          return system.A() * x + system.B() * u;
        },
        x1, u0, 0.020_s);
  }

  EXPECT_NEAR(x1(0), system.CalculateX(x0, u0, 1_s)(0), 0.1);
}