// 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/Solenoid.h"

#include <utility>

#include <hal/FRCUsageReporting.h>
#include <wpi/NullDeleter.h>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>

#include "frc/Errors.h"
#include "frc/SensorUtil.h"

using namespace frc;

Solenoid::Solenoid(PneumaticsBase& module, int channel)
    : Solenoid{std::shared_ptr<PneumaticsBase>{
                   &module, wpi::NullDeleter<PneumaticsBase>()},
               channel} {}

Solenoid::Solenoid(PneumaticsBase* module, int channel)
    : Solenoid{std::shared_ptr<PneumaticsBase>{
                   module, wpi::NullDeleter<PneumaticsBase>()},
               channel} {}

Solenoid::Solenoid(std::shared_ptr<PneumaticsBase> module, int channel)
    : m_module{std::move(module)} {
  if (!m_module->CheckSolenoidChannel(m_channel)) {
    throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", m_channel);
  }
  m_channel = channel;
  m_mask = 1 << channel;

  HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel + 1,
             m_module->GetModuleNumber() + 1);
  wpi::SendableRegistry::GetInstance().AddLW(
      this, "Solenoid", m_module->GetModuleNumber(), m_channel);
}

Solenoid::~Solenoid() {}

void Solenoid::Set(bool on) {
  int value = on ? (0xFFFF & m_mask) : 0;
  m_module->SetSolenoids(m_mask, value);
}

bool Solenoid::Get() const {
  int currentAll = m_module->GetSolenoids();
  return (currentAll & m_mask) != 0;
}

void Solenoid::Toggle() {
  Set(!Get());
}

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

bool Solenoid::IsDisabled() const {
  return (m_module->GetSolenoidDisabledList() & m_mask) != 0;
}

void Solenoid::SetPulseDuration(units::second_t duration) {
  m_module->SetOneShotDuration(m_channel, duration);
}

void Solenoid::StartPulse() {
  m_module->FireOneShot(m_channel);
}

void Solenoid::InitSendable(wpi::SendableBuilder& builder) {
  builder.SetSmartDashboardType("Solenoid");
  builder.SetActuator(true);
  builder.SetSafeState([=] { Set(false); });
  builder.AddBooleanProperty(
      "Value", [=] { return Get(); }, [=](bool value) { Set(value); });
}