/*
 * Copyright (c) 2018-2022 REV Robotics
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of REV Robotics nor the names of its
 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

package com.revrobotics;

import com.revrobotics.jni.CANSparkMaxJNI;

/** Get an instance of this class by using {@link CANSparkMax#getAnalog(Mode)}. */
public class SparkMaxAnalogSensor implements AnalogInput, CANAnalog {
  public enum Mode {
    /**
     * In absolute mode, the reported position directly corresponds to the actual voltage of the
     * analog sensor
     */
    kAbsolute(0),
    /**
     * In relative mode, the reported position of the analog sensor is relative to its position at
     * startup
     */
    kRelative(1);

    public final int value;

    Mode(int value) {
      this.value = value;
    }
  }

  // package-private to the revrobotics package
  final Mode mode;
  final CANSparkMax sparkMax;

  // package-private (can only be used by other classes in this package)
  SparkMaxAnalogSensor(CANSparkMax sparkMax, Mode mode) {
    this.sparkMax = sparkMax;
    this.mode = mode;

    if (mode == null) {
      throw new IllegalArgumentException("mode must not be null");
    }

    CANSparkMaxJNI.c_SparkMax_SetAnalogMode(sparkMax.sparkMaxHandle, mode.value);
  }

  /**
   * Get the voltage of the analog sensor.
   *
   * @return Voltage of the sensor.
   */
  @Override
  public double getVoltage() {
    sparkMax.throwIfClosed();
    return CANSparkMaxJNI.c_SparkMax_GetAnalogVoltage(sparkMax.sparkMaxHandle);
  }

  /**
   * Get the position of the sensor. Returns value in the native unit of 'volt' by default, and can
   * be changed by a scale factor using setPositionConversionFactor().
   *
   * @return Position of the sensor
   */
  @Override
  public double getPosition() {
    sparkMax.throwIfClosed();
    return CANSparkMaxJNI.c_SparkMax_GetAnalogPosition(sparkMax.sparkMaxHandle);
  }

  /**
   * Get the velocity of the sensor. Returns value in the native units of 'volts per second' by
   * default, and can be changed by a scale factor using setVelocityConversionFactor().
   *
   * @return Velocity of the sensor in volts per second
   */
  @Override
  public double getVelocity() {
    sparkMax.throwIfClosed();
    return CANSparkMaxJNI.c_SparkMax_GetAnalogVelocity(sparkMax.sparkMaxHandle);
  }

  /**
   * Set the voltage of the sensor in simulation. /note This function is only to be used for
   * simulation purposes
   */
  void setSimVoltage(float voltage) {
    sparkMax.throwIfClosed();
    CANSparkMaxJNI.c_SparkMax_SetSimAnalogVoltage(sparkMax.sparkMaxHandle, voltage);
  }

  /**
   * Set the position of the sensor in simulation. /note This function is only to be used for
   * simulation purposes
   */
  void setSimPosition(float position) {
    sparkMax.throwIfClosed();
    CANSparkMaxJNI.c_SparkMax_SetSimAnalogPosition(sparkMax.sparkMaxHandle, position);
  }

  /**
   * Set the velocity of the sensor in simulation. /note This function is only to be used for
   * simulation purposes
   */
  void setSimVelocity(float velocity) {
    sparkMax.throwIfClosed();
    CANSparkMaxJNI.c_SparkMax_SetSimAnalogVelocity(sparkMax.sparkMaxHandle, velocity);
  }

  /**
   * Set the conversion factor for the position of the analog sensor. By default, revolutions per
   * volt is 1. Changing the position conversion factor will also change the position units.
   *
   * @param factor The conversion factor which will be multiplied by volts
   * @return {@link REVLibError#kOk} if successful
   */
  @Override
  public REVLibError setPositionConversionFactor(double factor) {
    sparkMax.throwIfClosed();
    return REVLibError.fromInt(
        CANSparkMaxJNI.c_SparkMax_SetAnalogPositionConversionFactor(
            sparkMax.sparkMaxHandle, (float) factor));
  }

  /**
   * Set the conversion factor for the velocity of the analog sensor. By default, revolutions per
   * volt second is 1. Changing the velocity conversion factor will also change the velocity units.
   *
   * @param factor The conversion factor which will be multiplied by volts per second
   * @return {@link REVLibError#kOk} if successful
   */
  @Override
  public REVLibError setVelocityConversionFactor(double factor) {
    sparkMax.throwIfClosed();
    return REVLibError.fromInt(
        CANSparkMaxJNI.c_SparkMax_SetAnalogVelocityConversionFactor(
            sparkMax.sparkMaxHandle, (float) factor));
  }

  /**
   * Get the current conversion factor for the position of the analog sensor.
   *
   * @return Analog position conversion factor
   */
  @Override
  public double getPositionConversionFactor() {
    sparkMax.throwIfClosed();
    return CANSparkMaxJNI.c_SparkMax_GetAnalogPositionConversionFactor(sparkMax.sparkMaxHandle);
  }

  /**
   * Get the current conversion factor for the velocity of the analog sensor.
   *
   * @return Analog velocity conversion factor
   */
  @Override
  public double getVelocityConversionFactor() {
    sparkMax.throwIfClosed();
    return CANSparkMaxJNI.c_SparkMax_GetAnalogVelocityConversionFactor(sparkMax.sparkMaxHandle);
  }

  /**
   * Set the phase of the anlog sensor so that it is set to be in phase with the motor itself
   *
   * @param inverted The phase of the sensor
   * @return {@link REVLibError#kOk} if successful
   */
  @Override
  public REVLibError setInverted(boolean inverted) {
    sparkMax.throwIfClosed();
    return REVLibError.fromInt(
        CANSparkMaxJNI.c_SparkMax_SetAnalogInverted(sparkMax.sparkMaxHandle, inverted));
  }

  /**
   * Get the phase of the analog sensor
   *
   * @return The phase of the sensor
   */
  @Override
  public boolean getInverted() {
    sparkMax.throwIfClosed();
    return CANSparkMaxJNI.c_SparkMax_GetAnalogInverted(sparkMax.sparkMaxHandle);
  }

  // package-private to the revrobotics package
  int getSparkMaxFeedbackDeviceId() {
    return CANSparkMaxLowLevel.FeedbackSensorType.kAnalog.value;
  }
}