/*
 * Copyright (C) Cross The Road Electronics.  All rights reserved.
 * License information can be found in CTRE_LICENSE.txt
 * For support and suggestions contact support@ctr-electronics.com or file
 * an issue tracker at https://github.com/CrossTheRoadElec/Phoenix-Releases
 */
package com.ctre.phoenix6.controls;

import com.ctre.phoenix6.StatusCode;
import com.ctre.phoenix6.controls.jni.ControlJNI;

import edu.wpi.first.units.*;
import edu.wpi.first.units.measure.*;
import static edu.wpi.first.units.Units.*;

import java.util.HashMap;
import java.util.Map;

/**
 * Requests Motion Magic® to target a final position using a motion profile. 
 * Users can optionally provide a duty cycle feedforward.
 * <p>
 * Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity,
 * Acceleration, and (optional) Jerk specified via the Motion Magic® configuration values.  This control mode
 * does not use the Expo_kV or Expo_kA configs.
 * <p>
 * Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile.  This
 * control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the
 * numerator:  +1.0 represents full forward output.
 */
public class MotionMagicDutyCycle extends ControlRequest implements Cloneable
{
    /**
     * Position to drive toward in rotations.
     */
    public double Position;
    /**
     * Set to true to use FOC commutation (requires Phoenix Pro), which increases
     * peak power by ~15%. Set to false to use trapezoidal commutation.
     * <p>
     * FOC improves motor performance by leveraging torque (current) control. 
     * However, this may be inconvenient for applications that require specifying
     * duty cycle or voltage.  CTR-Electronics has developed a hybrid method that
     * combines the performances gains of FOC while still allowing applications to
     * provide duty cycle or voltage demand.  This not to be confused with simple
     * sinusoidal control or phase voltage control which lacks the performance
     * gains.
     */
    public boolean EnableFOC = true;
    /**
     * Feedforward to apply in fractional units between -1 and +1.
     */
    public double FeedForward = 0.0;
    /**
     * Select which gains are applied by selecting the slot.  Use the configuration
     * api to set the gain values for the selected slot before enabling this
     * feature. Slot must be within [0,2].
     */
    public int Slot = 0;
    /**
     * Set to true to static-brake the rotor when output is zero (or within
     * deadband).  Set to false to use the NeutralMode configuration setting
     * (default). This flag exists to provide the fundamental behavior of this
     * control when output is zero, which is to provide 0V to the motor.
     */
    public boolean OverrideBrakeDurNeutral = false;
    /**
     * Set to true to force forward limiting.  This allows users to use other limit
     * switch sensors connected to robot controller.  This also allows use of active
     * sensors that require external power.
     */
    public boolean LimitForwardMotion = false;
    /**
     * Set to true to force reverse limiting.  This allows users to use other limit
     * switch sensors connected to robot controller.  This also allows use of active
     * sensors that require external power.
     */
    public boolean LimitReverseMotion = false;
    /**
     * Set to true to ignore hardware limit switches and the LimitForwardMotion and
     * LimitReverseMotion parameters, instead allowing motion.
     * <p>
     * This can be useful on mechanisms such as an intake/feeder, where a limit
     * switch stops motion while intaking but should be ignored when feeding to a
     * shooter.
     * <p>
     * The hardware limit faults and Forward/ReverseLimit signals will still report
     * the values of the limit switches regardless of this parameter.
     */
    public boolean IgnoreHardwareLimits = false;
    /**
     * Set to true to delay applying this control request until a timesync boundary
     * (requires Phoenix Pro and CANivore). This eliminates the impact of
     * nondeterministic network delays in exchange for a larger but deterministic
     * control latency.
     * <p>
     * This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs.
     * Additionally, when this is enabled, the UpdateFreqHz of this request should
     * be set to 0 Hz.
     */
    public boolean UseTimesync = false;

    /**
     * The period at which this control will update at.
     * This is designated in Hertz, with a minimum of 20 Hz
     * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
     * <p>
     * If this field is set to 0 Hz, the control request will
     * be sent immediately as a one-shot frame. This may be useful
     * for advanced applications that require outputs to be
     * synchronized with data acquisition. In this case, we
     * recommend not exceeding 50 ms between control calls.
     */
    public double UpdateFreqHz = 100;

    /**
     * Requests Motion Magic® to target a final position using a motion profile. 
     * Users can optionally provide a duty cycle feedforward.
     * <p>
     * Motion Magic® produces a motion profile in real-time while attempting to
     * honor the Cruise Velocity, Acceleration, and (optional) Jerk specified via
     * the Motion Magic® configuration values.  This control mode does not use the
     * Expo_kV or Expo_kA configs.
     * <p>
     * Target position can be changed on-the-fly and Motion Magic® will do its best
     * to adjust the profile.  This control mode is duty cycle based, so relevant
     * closed-loop gains will use fractional duty cycle for the numerator:  +1.0
     * represents full forward output.
     * 
     * @param Position    Position to drive toward in rotations.
     */
    public MotionMagicDutyCycle(double Position)
    {
        super("MotionMagicDutyCycle");
        this.Position = Position;
    }

    /**
     * Requests Motion Magic® to target a final position using a motion profile. 
     * Users can optionally provide a duty cycle feedforward.
     * <p>
     * Motion Magic® produces a motion profile in real-time while attempting to
     * honor the Cruise Velocity, Acceleration, and (optional) Jerk specified via
     * the Motion Magic® configuration values.  This control mode does not use the
     * Expo_kV or Expo_kA configs.
     * <p>
     * Target position can be changed on-the-fly and Motion Magic® will do its best
     * to adjust the profile.  This control mode is duty cycle based, so relevant
     * closed-loop gains will use fractional duty cycle for the numerator:  +1.0
     * represents full forward output.
     * 
     * @param Position    Position to drive toward in rotations.
     */
    public MotionMagicDutyCycle(Angle Position)
    {
        this(Position.in(Rotations));
    }

    @Override
    public String toString()
    {
        String ss = "Control: MotionMagicDutyCycle\n";
        ss += "    Position: " + Position + " rotations" + "\n";
        ss += "    EnableFOC: " + EnableFOC + "\n";
        ss += "    FeedForward: " + FeedForward + " fractional" + "\n";
        ss += "    Slot: " + Slot + "\n";
        ss += "    OverrideBrakeDurNeutral: " + OverrideBrakeDurNeutral + "\n";
        ss += "    LimitForwardMotion: " + LimitForwardMotion + "\n";
        ss += "    LimitReverseMotion: " + LimitReverseMotion + "\n";
        ss += "    IgnoreHardwareLimits: " + IgnoreHardwareLimits + "\n";
        ss += "    UseTimesync: " + UseTimesync + "\n";
        return ss;
    }

    @Override
    public StatusCode sendRequest(String network, int deviceHash)
    {
        return StatusCode.valueOf(ControlJNI.JNI_RequestControlMotionMagicDutyCycle(
                network, deviceHash, UpdateFreqHz, Position, EnableFOC, FeedForward, Slot, OverrideBrakeDurNeutral, LimitForwardMotion, LimitReverseMotion, IgnoreHardwareLimits, UseTimesync));
    }

    /**
     * Gets information about this control request.
     *
     * @return Map of control parameter names and corresponding applied values
     */
    @Override
    public Map<String, String> getControlInfo()
    {
        var controlInfo = new HashMap<String, String>();
        controlInfo.put("Name", getName());
        controlInfo.put("Position", String.valueOf(this.Position));
        controlInfo.put("EnableFOC", String.valueOf(this.EnableFOC));
        controlInfo.put("FeedForward", String.valueOf(this.FeedForward));
        controlInfo.put("Slot", String.valueOf(this.Slot));
        controlInfo.put("OverrideBrakeDurNeutral", String.valueOf(this.OverrideBrakeDurNeutral));
        controlInfo.put("LimitForwardMotion", String.valueOf(this.LimitForwardMotion));
        controlInfo.put("LimitReverseMotion", String.valueOf(this.LimitReverseMotion));
        controlInfo.put("IgnoreHardwareLimits", String.valueOf(this.IgnoreHardwareLimits));
        controlInfo.put("UseTimesync", String.valueOf(this.UseTimesync));
        return controlInfo;
    }
    
    /**
     * Modifies this Control Request's Position parameter and returns itself for
     * method-chaining and easier to use request API.
     * <p>
     * Position to drive toward in rotations.
     *
     * @param newPosition Parameter to modify
     * @return Itself
     */
    public MotionMagicDutyCycle withPosition(double newPosition)
    {
        Position = newPosition;
        return this;
    }
    
    /**
     * Modifies this Control Request's Position parameter and returns itself for
     * method-chaining and easier to use request API.
     * <p>
     * Position to drive toward in rotations.
     *
     * @param newPosition Parameter to modify
     * @return Itself
     */
    public MotionMagicDutyCycle withPosition(Angle newPosition)
    {
        Position = newPosition.in(Rotations);
        return this;
    }
    
    /**
     * Helper method to get this Control Request's Position parameter converted
     * to a unit type. If not using the Java units library, {@link #Position}
     * can be accessed directly instead.
     * <p>
     * Position to drive toward in rotations.
     *
     * @return Position
     */
    public Angle getPositionMeasure()
    {
        return Rotations.of(Position);
    }
    
    /**
     * Modifies this Control Request's EnableFOC parameter and returns itself for
     * method-chaining and easier to use request API.
     * <p>
     * Set to true to use FOC commutation (requires Phoenix Pro), which increases
     * peak power by ~15%. Set to false to use trapezoidal commutation.
     * <p>
     * FOC improves motor performance by leveraging torque (current) control. 
     * However, this may be inconvenient for applications that require specifying
     * duty cycle or voltage.  CTR-Electronics has developed a hybrid method that
     * combines the performances gains of FOC while still allowing applications to
     * provide duty cycle or voltage demand.  This not to be confused with simple
     * sinusoidal control or phase voltage control which lacks the performance
     * gains.
     *
     * @param newEnableFOC Parameter to modify
     * @return Itself
     */
    public MotionMagicDutyCycle withEnableFOC(boolean newEnableFOC)
    {
        EnableFOC = newEnableFOC;
        return this;
    }
    
    /**
     * Modifies this Control Request's FeedForward parameter and returns itself for
     * method-chaining and easier to use request API.
     * <p>
     * Feedforward to apply in fractional units between -1 and +1.
     *
     * @param newFeedForward Parameter to modify
     * @return Itself
     */
    public MotionMagicDutyCycle withFeedForward(double newFeedForward)
    {
        FeedForward = newFeedForward;
        return this;
    }
    
    /**
     * Modifies this Control Request's Slot parameter and returns itself for
     * method-chaining and easier to use request API.
     * <p>
     * Select which gains are applied by selecting the slot.  Use the configuration
     * api to set the gain values for the selected slot before enabling this
     * feature. Slot must be within [0,2].
     *
     * @param newSlot Parameter to modify
     * @return Itself
     */
    public MotionMagicDutyCycle withSlot(int newSlot)
    {
        Slot = newSlot;
        return this;
    }
    
    /**
     * Modifies this Control Request's OverrideBrakeDurNeutral parameter and returns itself for
     * method-chaining and easier to use request API.
     * <p>
     * Set to true to static-brake the rotor when output is zero (or within
     * deadband).  Set to false to use the NeutralMode configuration setting
     * (default). This flag exists to provide the fundamental behavior of this
     * control when output is zero, which is to provide 0V to the motor.
     *
     * @param newOverrideBrakeDurNeutral Parameter to modify
     * @return Itself
     */
    public MotionMagicDutyCycle withOverrideBrakeDurNeutral(boolean newOverrideBrakeDurNeutral)
    {
        OverrideBrakeDurNeutral = newOverrideBrakeDurNeutral;
        return this;
    }
    
    /**
     * Modifies this Control Request's LimitForwardMotion parameter and returns itself for
     * method-chaining and easier to use request API.
     * <p>
     * Set to true to force forward limiting.  This allows users to use other limit
     * switch sensors connected to robot controller.  This also allows use of active
     * sensors that require external power.
     *
     * @param newLimitForwardMotion Parameter to modify
     * @return Itself
     */
    public MotionMagicDutyCycle withLimitForwardMotion(boolean newLimitForwardMotion)
    {
        LimitForwardMotion = newLimitForwardMotion;
        return this;
    }
    
    /**
     * Modifies this Control Request's LimitReverseMotion parameter and returns itself for
     * method-chaining and easier to use request API.
     * <p>
     * Set to true to force reverse limiting.  This allows users to use other limit
     * switch sensors connected to robot controller.  This also allows use of active
     * sensors that require external power.
     *
     * @param newLimitReverseMotion Parameter to modify
     * @return Itself
     */
    public MotionMagicDutyCycle withLimitReverseMotion(boolean newLimitReverseMotion)
    {
        LimitReverseMotion = newLimitReverseMotion;
        return this;
    }
    
    /**
     * Modifies this Control Request's IgnoreHardwareLimits parameter and returns itself for
     * method-chaining and easier to use request API.
     * <p>
     * Set to true to ignore hardware limit switches and the LimitForwardMotion and
     * LimitReverseMotion parameters, instead allowing motion.
     * <p>
     * This can be useful on mechanisms such as an intake/feeder, where a limit
     * switch stops motion while intaking but should be ignored when feeding to a
     * shooter.
     * <p>
     * The hardware limit faults and Forward/ReverseLimit signals will still report
     * the values of the limit switches regardless of this parameter.
     *
     * @param newIgnoreHardwareLimits Parameter to modify
     * @return Itself
     */
    public MotionMagicDutyCycle withIgnoreHardwareLimits(boolean newIgnoreHardwareLimits)
    {
        IgnoreHardwareLimits = newIgnoreHardwareLimits;
        return this;
    }
    
    /**
     * Modifies this Control Request's UseTimesync parameter and returns itself for
     * method-chaining and easier to use request API.
     * <p>
     * Set to true to delay applying this control request until a timesync boundary
     * (requires Phoenix Pro and CANivore). This eliminates the impact of
     * nondeterministic network delays in exchange for a larger but deterministic
     * control latency.
     * <p>
     * This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs.
     * Additionally, when this is enabled, the UpdateFreqHz of this request should
     * be set to 0 Hz.
     *
     * @param newUseTimesync Parameter to modify
     * @return Itself
     */
    public MotionMagicDutyCycle withUseTimesync(boolean newUseTimesync)
    {
        UseTimesync = newUseTimesync;
        return this;
    }

    /**
     * Sets the period at which this control will update at.
     * This is designated in Hertz, with a minimum of 20 Hz
     * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
     * <p>
     * If this field is set to 0 Hz, the control request will
     * be sent immediately as a one-shot frame. This may be useful
     * for advanced applications that require outputs to be
     * synchronized with data acquisition. In this case, we
     * recommend not exceeding 50 ms between control calls.
     *
     * @param newUpdateFreqHz Parameter to modify
     * @return Itself
     */
    @Override
    public MotionMagicDutyCycle withUpdateFreqHz(double newUpdateFreqHz)
    {
        UpdateFreqHz = newUpdateFreqHz;
        return this;
    }

    /**
     * Sets the period at which this control will update at.
     * This is designated in Hertz, with a minimum of 20 Hz
     * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
     * <p>
     * If this field is set to 0 Hz, the control request will
     * be sent immediately as a one-shot frame. This may be useful
     * for advanced applications that require outputs to be
     * synchronized with data acquisition. In this case, we
     * recommend not exceeding 50 ms between control calls.
     *
     * @param newUpdateFreqHz Parameter to modify
     * @return Itself
     */
    public MotionMagicDutyCycle withUpdateFreqHz(Frequency newUpdateFreqHz)
    {
        UpdateFreqHz = newUpdateFreqHz.in(Hertz);
        return this;
    }

    @Override
    public MotionMagicDutyCycle clone()
    {
        try {
            return (MotionMagicDutyCycle)super.clone();
        } catch (CloneNotSupportedException ex) {
            /* this should never happen */
            throw new RuntimeException(ex);
        }
    }
}