/**
 * WPI Compliant motor controller class.
 * WPILIB's object model requires many interfaces to be implemented to use
 * the various features.
 * This includes...
 * - LiveWindow/Test mode features
 * - getRotation2d/Gyro Interface
 * - Simulation Hooks
 */

package com.ctre.phoenix.sensors;

import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import com.ctre.phoenix.platform.DeviceType;
import com.ctre.phoenix.platform.PlatformJNI;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.WPI_CallbackHelper;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.interfaces.Gyro;

import edu.wpi.first.hal.SimDevice.Direction;
import edu.wpi.first.hal.HALValue;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.wpilibj.simulation.CallbackStore;
import edu.wpi.first.wpilibj.simulation.SimDeviceSim;
import edu.wpi.first.hal.simulation.SimDeviceDataJNI;
import edu.wpi.first.hal.simulation.SimValueCallback;
import edu.wpi.first.hal.simulation.SimulatorJNI;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.HAL.SimPeriodicBeforeCallback;

import java.util.ArrayList;

public class WPI_PigeonIMU extends PigeonIMU implements Sendable, Gyro {

    private double[] _xyz_dps; //instance this so we don't alloc when getRate is called.

    private SimDevice m_simPigeon;
    private SimDouble m_simFusedHeading;
    private SimDouble m_simRawHeading;
    private DeviceType m_type;

    // callbacks to register
        private SimValueCallback onValueChangedCallback = new OnValueChangedCallback();
        private Runnable onPeriodicCallback = new OnPeriodicCallback();

        // returned registered callbacks
        private ArrayList<CallbackStore> simValueChangedCallbacks = new ArrayList<CallbackStore>();
        private SimPeriodicBeforeCallback simPeriodicCallback;

    /**
     * Constructor for Pigeon IMU.
         * @param deviceNumber device ID of Pigeon IMU
     */
    public WPI_PigeonIMU(int deviceNumber) {
        super(deviceNumber);
        m_type = DeviceType.PigeonIMU;
                SendableRegistry.addLW(this, "Pigeon IMU ", deviceNumber);
        init();
    }

    /**
     * Construtor for WPI_PigeonIMU.
     *
     * @param talon The Talon SRX ribbon-cabled to Pigeon.
     */
    public WPI_PigeonIMU(TalonSRX talon) {
        super(talon);
        m_type = DeviceType.RibbonPigeonIMU;
        SendableRegistry.addLW(this, "Pigeon IMU ", talon.getDeviceID());
        init();
    }

    private void init(){
        _xyz_dps = new double[3];

        m_simPigeon = SimDevice.create("CANGyro:Pigeon IMU", getDeviceID());
        if(m_simPigeon != null) {
            simPeriodicCallback = HAL.registerSimPeriodicBeforeCallback(onPeriodicCallback);

            m_simFusedHeading = m_simPigeon.createDouble("fusedHeading", Direction.kOutput, 0);

            m_simRawHeading = m_simPigeon.createDouble("rawHeadingInput", Direction.kInput, 0);

            SimDeviceSim sim = new SimDeviceSim("CANGyro:Pigeon IMU");
            simValueChangedCallbacks.add(sim.registerValueChangedCallback(m_simRawHeading, onValueChangedCallback, true));
        }
    }

    // ----- Auto-Closable, from Gyro ----- //
    @Override 
    public void close(){
        SendableRegistry.remove(this);
        if(m_simPigeon != null) { 
            m_simPigeon.close();
            m_simPigeon = null;
        }
        super.DestroyObject(); //Pigeon device, replace with super.close() once implemented
    }


    // ----- Callbacks for Sim ----- //
    private class OnValueChangedCallback implements SimValueCallback {
                @Override
                public void callback(String name, int handle, int direction, HALValue value) {
                        String deviceName = SimDeviceDataJNI.getSimDeviceName(SimDeviceDataJNI.getSimValueDeviceHandle(handle));
                        String physType = deviceName + ":" + name;
                        PlatformJNI.JNI_SimSetPhysicsInput(m_type.value, getDeviceID(),
                                                                               physType, WPI_CallbackHelper.getRawValue(value));
                }
        }

        private class OnPeriodicCallback implements Runnable {
                @Override
                public void run() {
                        double value = 0;
                        int err = 0;

                        int deviceID = getDeviceID();

                        value = PlatformJNI.JNI_SimGetPhysicsValue(m_type.value, deviceID, "FusedHeading");
                        err = PlatformJNI.JNI_SimGetLastError(m_type.value, deviceID);
                        if (err == 0) {
                                m_simFusedHeading.set(value);
                        }
                        value = PlatformJNI.JNI_SimGetPhysicsValue(m_type.value, deviceID, "HeadingRaw");
                        err = PlatformJNI.JNI_SimGetLastError(m_type.value, deviceID);
                        if (err == 0) {
                                m_simRawHeading.set(value);
                        }
                }
        }


    // ----- WPILib Gyro Interface ----- //

    /**
     * This function does nothing, it exists
     * to satisfy the WPILib Gyro interface.
     * 
     * Pigeon does calibration on boot and any
     * one-time calibrations (like temperature)
     * are done via Phoenix Tuner.
     */
    public void calibrate(){} //Pigeon calibration is done on boot and one-time cals via Tuner

    public void reset(){
        setFusedHeading(0);
    }

    public double getAngle(){
        //Negate since getAngle requires cw+ and Pigeon is ccw+
        return -getFusedHeading();
    }

    public double getRate(){
        getRawGyro(_xyz_dps);
        //Expected to return cw+
        return -_xyz_dps[2];
    }

    public Rotation2d getRotation2d() {
        //Rotation2d and Pigeon are both ccw+
        return Rotation2d.fromDegrees(getFusedHeading());
    }

    // ----- Sendable ----- //
    @Override
  public void initSendable(SendableBuilder builder) {
    builder.setSmartDashboardType("Pigeon IMU");
    builder.addDoubleProperty("Heading", this::getFusedHeading, null);
  }
}