/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2013-2016. 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.                                                               */
/*----------------------------------------------------------------------------*/

#pragma once

#include <math.h>
#include <stdint.h>

#include "Accelerometer.h"
#include "AnalogAccumulator.h"
#include "AnalogInput.h"
#include "AnalogOutput.h"
#include "AnalogTrigger.h"
#include "Compressor.h"
#include "Counter.h"
#include "DIO.h"
#include "Encoder.h"
#include "Errors.h"
#include "I2C.h"
#include "Interrupts.h"
#include "Notifier.h"
#include "PDP.h"
#include "PWM.h"
#include "Power.h"
#include "Relay.h"
#include "SPI.h"
#include "Semaphore.h"
#include "SerialPort.h"
#include "Solenoid.h"
#include "Task.h"

#define HAL_IO_CONFIG_DATA_SIZE 32
#define HAL_SYS_STATUS_DATA_SIZE 44
#define HAL_USER_STATUS_DATA_SIZE \
  (984 - HAL_IO_CONFIG_DATA_SIZE - HAL_SYS_STATUS_DATA_SIZE)

#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
#define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Header 19
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24
#define HALFRC_NetworkCommunication_DynamicType_Kinect_Custom 25

namespace HALUsageReporting {
enum tResourceType {
  kResourceType_Controller,
  kResourceType_Module,
  kResourceType_Language,
  kResourceType_CANPlugin,
  kResourceType_Accelerometer,
  kResourceType_ADXL345,
  kResourceType_AnalogChannel,
  kResourceType_AnalogTrigger,
  kResourceType_AnalogTriggerOutput,
  kResourceType_CANJaguar,
  kResourceType_Compressor,
  kResourceType_Counter,
  kResourceType_Dashboard,
  kResourceType_DigitalInput,
  kResourceType_DigitalOutput,
  kResourceType_DriverStationCIO,
  kResourceType_DriverStationEIO,
  kResourceType_DriverStationLCD,
  kResourceType_Encoder,
  kResourceType_GearTooth,
  kResourceType_Gyro,
  kResourceType_I2C,
  kResourceType_Framework,
  kResourceType_Jaguar,
  kResourceType_Joystick,
  kResourceType_Kinect,
  kResourceType_KinectStick,
  kResourceType_PIDController,
  kResourceType_Preferences,
  kResourceType_PWM,
  kResourceType_Relay,
  kResourceType_RobotDrive,
  kResourceType_SerialPort,
  kResourceType_Servo,
  kResourceType_Solenoid,
  kResourceType_SPI,
  kResourceType_Task,
  kResourceType_Ultrasonic,
  kResourceType_Victor,
  kResourceType_Button,
  kResourceType_Command,
  kResourceType_AxisCamera,
  kResourceType_PCVideoServer,
  kResourceType_SmartDashboard,
  kResourceType_Talon,
  kResourceType_HiTechnicColorSensor,
  kResourceType_HiTechnicAccel,
  kResourceType_HiTechnicCompass,
  kResourceType_SRF08,
  kResourceType_AnalogOutput,
  kResourceType_VictorSP,
  kResourceType_TalonSRX,
  kResourceType_CANTalonSRX,
  kResourceType_ADXL362,
  kResourceType_ADXRS450,
  kResourceType_RevSPARK,
  kResourceType_MindsensorsSD540,
  kResourceType_DigitalFilter,
};

enum tInstances {
  kLanguage_LabVIEW = 1,
  kLanguage_CPlusPlus = 2,
  kLanguage_Java = 3,
  kLanguage_Python = 4,

  kCANPlugin_BlackJagBridge = 1,
  kCANPlugin_2CAN = 2,

  kFramework_Iterative = 1,
  kFramework_Sample = 2,
  kFramework_CommandControl = 3,

  kRobotDrive_ArcadeStandard = 1,
  kRobotDrive_ArcadeButtonSpin = 2,
  kRobotDrive_ArcadeRatioCurve = 3,
  kRobotDrive_Tank = 4,
  kRobotDrive_MecanumPolar = 5,
  kRobotDrive_MecanumCartesian = 6,

  kDriverStationCIO_Analog = 1,
  kDriverStationCIO_DigitalIn = 2,
  kDriverStationCIO_DigitalOut = 3,

  kDriverStationEIO_Acceleration = 1,
  kDriverStationEIO_AnalogIn = 2,
  kDriverStationEIO_AnalogOut = 3,
  kDriverStationEIO_Button = 4,
  kDriverStationEIO_LED = 5,
  kDriverStationEIO_DigitalIn = 6,
  kDriverStationEIO_DigitalOut = 7,
  kDriverStationEIO_FixedDigitalOut = 8,
  kDriverStationEIO_PWM = 9,
  kDriverStationEIO_Encoder = 10,
  kDriverStationEIO_TouchSlider = 11,

  kADXL345_SPI = 1,
  kADXL345_I2C = 2,

  kCommand_Scheduler = 1,

  kSmartDashboard_Instance = 1,
};
}

struct HALControlWord {
  uint32_t enabled : 1;
  uint32_t autonomous : 1;
  uint32_t test : 1;
  uint32_t eStop : 1;
  uint32_t fmsAttached : 1;
  uint32_t dsAttached : 1;
  uint32_t control_reserved : 26;
};

enum HALAllianceStationID {
  kHALAllianceStationID_red1,
  kHALAllianceStationID_red2,
  kHALAllianceStationID_red3,
  kHALAllianceStationID_blue1,
  kHALAllianceStationID_blue2,
  kHALAllianceStationID_blue3,
};

/* The maximum number of axes that will be stored in a single HALJoystickAxes
 * struct. This is used for allocating buffers, not bounds checking, since
 * there are usually less axes in practice.
 */
static const size_t kMaxJoystickAxes = 12;
static const size_t kMaxJoystickPOVs = 12;

struct HALJoystickAxes {
  uint16_t count;
  float axes[kMaxJoystickAxes];
};

struct HALJoystickPOVs {
  uint16_t count;
  int16_t povs[kMaxJoystickPOVs];
};

struct HALJoystickButtons {
  uint32_t buttons;
  uint8_t count;
};

struct HALJoystickDescriptor {
  uint8_t isXbox;
  uint8_t type;
  char name[256];
  uint8_t axisCount;
  uint8_t axisTypes[kMaxJoystickAxes];
  uint8_t buttonCount;
  uint8_t povCount;
};

inline float intToFloat(int value) { return (float)value; }

inline int floatToInt(float value) { return round(value); }

extern "C" {
extern const uint32_t dio_kNumSystems;
extern const uint32_t solenoid_kNumDO7_0Elements;
extern const uint32_t interrupt_kNumSystems;
extern const uint32_t kSystemClockTicksPerMicrosecond;

void* getPort(uint8_t pin);
void* getPortWithModule(uint8_t module, uint8_t pin);
void freePort(void* port);
const char* getHALErrorMessage(int32_t code);

uint16_t getFPGAVersion(int32_t* status);
uint32_t getFPGARevision(int32_t* status);
uint64_t getFPGATime(int32_t* status);

bool getFPGAButton(int32_t* status);

int HALSetErrorData(const char* errors, int errorsLength, int wait_ms);
int HALSendError(int isError, int32_t errorCode, int isLVCode,
                 const char* details, const char* location,
                 const char* callStack, int printMsg);

int HALGetControlWord(HALControlWord* data);
int HALGetAllianceStation(enum HALAllianceStationID* allianceStation);
int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes* axes);
int HALGetJoystickPOVs(uint8_t joystickNum, HALJoystickPOVs* povs);
int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons* buttons);
int HALGetJoystickDescriptor(uint8_t joystickNum, HALJoystickDescriptor* desc);
int HALGetJoystickIsXbox(uint8_t joystickNum);
int HALGetJoystickType(uint8_t joystickNum);
char* HALGetJoystickName(uint8_t joystickNum);
int HALGetJoystickAxisType(uint8_t joystickNum, uint8_t axis);
int HALSetJoystickOutputs(uint8_t joystickNum, uint32_t outputs,
                          uint16_t leftRumble, uint16_t rightRumble);
int HALGetMatchTime(float* matchTime);

void HALSetNewDataSem(MULTIWAIT_ID sem);

bool HALGetSystemActive(int32_t* status);
bool HALGetBrownedOut(int32_t* status);

int HALInitialize(int mode = 0);
void HALNetworkCommunicationObserveUserProgramStarting();
void HALNetworkCommunicationObserveUserProgramDisabled();
void HALNetworkCommunicationObserveUserProgramAutonomous();
void HALNetworkCommunicationObserveUserProgramTeleop();
void HALNetworkCommunicationObserveUserProgramTest();

uint32_t HALReport(uint8_t resource, uint8_t instanceNumber,
                   uint8_t context = 0, const char* feature = nullptr);
}

// TODO: HACKS for now...
extern "C" {

void NumericArrayResize();
void RTSetCleanupProc();
void EDVR_CreateReference();
void Occur();
}