/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 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.                                                               */
/*----------------------------------------------------------------------------*/

package edu.wpi.first.wpilibj;

import edu.wpi.first.wpilibj.hal.AnalogJNI;
import edu.wpi.first.wpilibj.hal.ConstantsJNI;
import edu.wpi.first.wpilibj.hal.DIOJNI;
import edu.wpi.first.wpilibj.hal.PDPJNI;
import edu.wpi.first.wpilibj.hal.PWMJNI;
import edu.wpi.first.wpilibj.hal.PortsJNI;
import edu.wpi.first.wpilibj.hal.RelayJNI;
import edu.wpi.first.wpilibj.hal.SolenoidJNI;

/**
 * Base class for all sensors. Stores most recent status information as well as containing utility
 * functions for checking channels and error processing.
 */
public abstract class SensorBase extends SendableBase {
  /**
   * Ticks per microsecond.
   */
  public static final int kSystemClockTicksPerMicrosecond =
      ConstantsJNI.getSystemClockTicksPerMicrosecond();
  /**
   * Number of digital channels per roboRIO.
   */
  public static final int kDigitalChannels = PortsJNI.getNumDigitalChannels();
  /**
   * Number of analog input channels per roboRIO.
   */
  public static final int kAnalogInputChannels = PortsJNI.getNumAnalogInputs();
  /**
   * Number of analog output channels per roboRIO.
   */
  public static final int kAnalogOutputChannels = PortsJNI.getNumAnalogOutputs();
  /**
   * Number of solenoid channels per module.
   */
  public static final int kSolenoidChannels = PortsJNI.getNumSolenoidChannels();
  /**
   * Number of PWM channels per roboRIO.
   */
  public static final int kPwmChannels = PortsJNI.getNumPWMChannels();
  /**
   * Number of relay channels per roboRIO.
   */
  public static final int kRelayChannels = PortsJNI.getNumRelayHeaders();
  /**
   * Number of power distribution channels per PDP.
   */
  public static final int kPDPChannels = PortsJNI.getNumPDPChannels();
  /**
   * Number of power distribution modules per PDP.
   */
  public static final int kPDPModules = PortsJNI.getNumPDPModules();
  /**
   * Number of PCM Modules.
   */
  public static final int kPCMModules = PortsJNI.getNumPCMModules();

  private static int m_defaultSolenoidModule = 0;

  /**
   * Set the default location for the Solenoid module.
   *
   * @param moduleNumber The number of the solenoid module to use.
   */
  public static void setDefaultSolenoidModule(final int moduleNumber) {
    checkSolenoidModule(moduleNumber);
    SensorBase.m_defaultSolenoidModule = moduleNumber;
  }

  /**
   * Verify that the solenoid module is correct.
   *
   * @param moduleNumber The solenoid module module number to check.
   */
  public static void checkSolenoidModule(final int moduleNumber) {
    if (!SolenoidJNI.checkSolenoidModule(moduleNumber)) {
      StringBuilder buf = new StringBuilder();
      buf.append("Requested solenoid module is out of range. Minimum: 0, Maximum: ")
        .append(kPCMModules)
        .append(", Requested: ")
        .append(moduleNumber);
      throw new IndexOutOfBoundsException(buf.toString());
    }
  }

  /**
   * Check that the digital channel number is valid. Verify that the channel number is one of the
   * legal channel numbers. Channel numbers are 0-based.
   *
   * @param channel The channel number to check.
   */
  public static void checkDigitalChannel(final int channel) {
    if (!DIOJNI.checkDIOChannel(channel)) {
      StringBuilder buf = new StringBuilder();
      buf.append("Requested DIO channel is out of range. Minimum: 0, Maximum: ")
        .append(kDigitalChannels)
        .append(", Requested: ")
        .append(channel);
      throw new IndexOutOfBoundsException(buf.toString());
    }
  }

  /**
   * Check that the digital channel number is valid. Verify that the channel number is one of the
   * legal channel numbers. Channel numbers are 0-based.
   *
   * @param channel The channel number to check.
   */
  public static void checkRelayChannel(final int channel) {
    if (!RelayJNI.checkRelayChannel(channel)) {
      StringBuilder buf = new StringBuilder();
      buf.append("Requested relay channel is out of range. Minimum: 0, Maximum: ")
        .append(kRelayChannels)
        .append(", Requested: ")
        .append(channel);
      throw new IndexOutOfBoundsException(buf.toString());
    }
  }

  /**
   * Check that the digital channel number is valid. Verify that the channel number is one of the
   * legal channel numbers. Channel numbers are 0-based.
   *
   * @param channel The channel number to check.
   */
  public static void checkPWMChannel(final int channel) {
    if (!PWMJNI.checkPWMChannel(channel)) {
      StringBuilder buf = new StringBuilder();
      buf.append("Requested PWM channel is out of range. Minimum: 0, Maximum: ")
        .append(kPwmChannels)
        .append(", Requested: ")
        .append(channel);
      throw new IndexOutOfBoundsException(buf.toString());
    }
  }

  /**
   * Check that the analog input number is value. Verify that the analog input number is one of the
   * legal channel numbers. Channel numbers are 0-based.
   *
   * @param channel The channel number to check.
   */
  public static void checkAnalogInputChannel(final int channel) {
    if (!AnalogJNI.checkAnalogInputChannel(channel)) {
      StringBuilder buf = new StringBuilder();
      buf.append("Requested analog input channel is out of range. Minimum: 0, Maximum: ")
        .append(kAnalogInputChannels)
        .append(", Requested: ")
        .append(channel);
      throw new IndexOutOfBoundsException(buf.toString());
    }
  }

  /**
   * Check that the analog input number is value. Verify that the analog input number is one of the
   * legal channel numbers. Channel numbers are 0-based.
   *
   * @param channel The channel number to check.
   */
  public static void checkAnalogOutputChannel(final int channel) {
    if (!AnalogJNI.checkAnalogOutputChannel(channel)) {
      StringBuilder buf = new StringBuilder();
      buf.append("Requested analog output channel is out of range. Minimum: 0, Maximum: ")
        .append(kAnalogOutputChannels)
        .append(", Requested: ")
        .append(channel);
      throw new IndexOutOfBoundsException(buf.toString());
    }
  }

  /**
   * Verify that the solenoid channel number is within limits. Channel numbers are 0-based.
   *
   * @param channel The channel number to check.
   */
  public static void checkSolenoidChannel(final int channel) {
    if (!SolenoidJNI.checkSolenoidChannel(channel)) {
      StringBuilder buf = new StringBuilder();
      buf.append("Requested solenoid channel is out of range. Minimum: 0, Maximum: ")
        .append(kSolenoidChannels)
        .append(", Requested: ")
        .append(channel);
      throw new IndexOutOfBoundsException(buf.toString());
    }
  }

  /**
   * Verify that the power distribution channel number is within limits. Channel numbers are
   * 0-based.
   *
   * @param channel The channel number to check.
   */
  public static void checkPDPChannel(final int channel) {
    if (!PDPJNI.checkPDPChannel(channel)) {
      StringBuilder buf = new StringBuilder();
      buf.append("Requested PDP channel is out of range. Minimum: 0, Maximum: ")
        .append(kPDPChannels)
        .append(", Requested: ")
        .append(channel);
      throw new IndexOutOfBoundsException(buf.toString());
    }
  }

  /**
   * Verify that the PDP module number is within limits. module numbers are 0-based.
   *
   * @param module The module number to check.
   */
  public static void checkPDPModule(final int module) {
    if (!PDPJNI.checkPDPModule(module)) {
      StringBuilder buf = new StringBuilder();
      buf.append("Requested PDP module is out of range. Minimum: 0, Maximum: ")
        .append(kPDPModules)
        .append(", Requested: ")
        .append(module);
      throw new IndexOutOfBoundsException(buf.toString());
    }
  }

  /**
   * Get the number of the default solenoid module.
   *
   * @return The number of the default solenoid module.
   */
  public static int getDefaultSolenoidModule() {
    return SensorBase.m_defaultSolenoidModule;
  }
}