/*
 * 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.configs;

import com.ctre.phoenix6.StatusCode;
import com.ctre.phoenix6.configs.jni.ConfigJNI;
import com.ctre.phoenix6.spns.*;
import com.ctre.phoenix6.signals.*;

/**
 * Configs related to sensors used for differential control of a
 * mechanism.
 * <p>
 * Includes the differential sensor sources and IDs.
 */
public class DifferentialSensorsConfigs implements ParentConfiguration
{
    /**
     * Choose what sensor source is used for differential control of a
     * mechanism.  The default is Disabled.  All other options require
     * setting the DifferentialTalonFXSensorID, as the average of this
     * Talon FX's sensor and the remote TalonFX's sensor is used for the
     * differential controller's primary targets.
     * <p>
     * Choose RemoteTalonFX_Diff to use another TalonFX on the same CAN
     * bus.  Talon FX will update its differential position and velocity
     * whenever the remote TalonFX publishes its information on CAN bus. 
     * The differential controller will use the difference between this
     * TalonFX's sensor and the remote Talon FX's sensor for the
     * differential component of the output.
     * <p>
     * Choose RemotePigeon2_Yaw, RemotePigeon2_Pitch, and
     * RemotePigeon2_Roll to use another Pigeon2 on the same CAN bus (this
     * also requires setting DifferentialRemoteSensorID).  Talon FX will
     * update its differential position to match the selected value
     * whenever Pigeon2 publishes its information on CAN bus. Note that
     * the Talon FX differential position will be in rotations and not
     * degrees.
     * <p>
     * Choose RemoteCANcoder to use another CANcoder on the same CAN bus
     * (this also requires setting DifferentialRemoteSensorID).  Talon FX
     * will update its differential position and velocity to match the
     * CANcoder whenever CANcoder publishes its information on CAN bus.
     * 
     */
    public DifferentialSensorSourceValue DifferentialSensorSource = DifferentialSensorSourceValue.Disabled;
    /**
     * Device ID of which remote Talon FX to use.  This is used when the
     * Differential Sensor Source is not disabled.
     * 
     * <ul>
     *   <li> <b>Minimum Value:</b> 0
     *   <li> <b>Maximum Value:</b> 62
     *   <li> <b>Default Value:</b> 0
     *   <li> <b>Units:</b> 
     * </ul>
     */
    public int DifferentialTalonFXSensorID = 0;
    /**
     * Device ID of which remote sensor to use on the differential axis. 
     * This is used when the Differential Sensor Source is not
     * RemoteTalonFX_Diff.
     * 
     * <ul>
     *   <li> <b>Minimum Value:</b> 0
     *   <li> <b>Maximum Value:</b> 62
     *   <li> <b>Default Value:</b> 0
     *   <li> <b>Units:</b> 
     * </ul>
     */
    public int DifferentialRemoteSensorID = 0;
    
    /**
     * Modifies this configuration's DifferentialSensorSource parameter and returns itself for
     * method-chaining and easier to use config API.
     * <p>
     * Choose what sensor source is used for differential control of a
     * mechanism.  The default is Disabled.  All other options require
     * setting the DifferentialTalonFXSensorID, as the average of this
     * Talon FX's sensor and the remote TalonFX's sensor is used for the
     * differential controller's primary targets.
     * <p>
     * Choose RemoteTalonFX_Diff to use another TalonFX on the same CAN
     * bus.  Talon FX will update its differential position and velocity
     * whenever the remote TalonFX publishes its information on CAN bus. 
     * The differential controller will use the difference between this
     * TalonFX's sensor and the remote Talon FX's sensor for the
     * differential component of the output.
     * <p>
     * Choose RemotePigeon2_Yaw, RemotePigeon2_Pitch, and
     * RemotePigeon2_Roll to use another Pigeon2 on the same CAN bus (this
     * also requires setting DifferentialRemoteSensorID).  Talon FX will
     * update its differential position to match the selected value
     * whenever Pigeon2 publishes its information on CAN bus. Note that
     * the Talon FX differential position will be in rotations and not
     * degrees.
     * <p>
     * Choose RemoteCANcoder to use another CANcoder on the same CAN bus
     * (this also requires setting DifferentialRemoteSensorID).  Talon FX
     * will update its differential position and velocity to match the
     * CANcoder whenever CANcoder publishes its information on CAN bus.
     * 
     *
     * @param newDifferentialSensorSource Parameter to modify
     * @return Itself
     */
    public DifferentialSensorsConfigs withDifferentialSensorSource(DifferentialSensorSourceValue newDifferentialSensorSource)
    {
        DifferentialSensorSource = newDifferentialSensorSource;
        return this;
    }
    
    /**
     * Modifies this configuration's DifferentialTalonFXSensorID parameter and returns itself for
     * method-chaining and easier to use config API.
     * <p>
     * Device ID of which remote Talon FX to use.  This is used when the
     * Differential Sensor Source is not disabled.
     * 
     * <ul>
     *   <li> <b>Minimum Value:</b> 0
     *   <li> <b>Maximum Value:</b> 62
     *   <li> <b>Default Value:</b> 0
     *   <li> <b>Units:</b> 
     * </ul>
     *
     * @param newDifferentialTalonFXSensorID Parameter to modify
     * @return Itself
     */
    public DifferentialSensorsConfigs withDifferentialTalonFXSensorID(int newDifferentialTalonFXSensorID)
    {
        DifferentialTalonFXSensorID = newDifferentialTalonFXSensorID;
        return this;
    }
    
    /**
     * Modifies this configuration's DifferentialRemoteSensorID parameter and returns itself for
     * method-chaining and easier to use config API.
     * <p>
     * Device ID of which remote sensor to use on the differential axis. 
     * This is used when the Differential Sensor Source is not
     * RemoteTalonFX_Diff.
     * 
     * <ul>
     *   <li> <b>Minimum Value:</b> 0
     *   <li> <b>Maximum Value:</b> 62
     *   <li> <b>Default Value:</b> 0
     *   <li> <b>Units:</b> 
     * </ul>
     *
     * @param newDifferentialRemoteSensorID Parameter to modify
     * @return Itself
     */
    public DifferentialSensorsConfigs withDifferentialRemoteSensorID(int newDifferentialRemoteSensorID)
    {
        DifferentialRemoteSensorID = newDifferentialRemoteSensorID;
        return this;
    }

    

    @Override
    public String toString()
    {
        String ss = "Config Group: DifferentialSensors\n";
        ss += "    DifferentialSensorSource: " + DifferentialSensorSource + "\n";
        ss += "    DifferentialTalonFXSensorID: " + DifferentialTalonFXSensorID + "\n";
        ss += "    DifferentialRemoteSensorID: " + DifferentialRemoteSensorID + "\n";
        return ss;
    }

    /**
     *
     */
    public StatusCode deserialize(String to_deserialize)
    {
        DifferentialSensorSource = DifferentialSensorSourceValue.valueOf(ConfigJNI.Deserializeint(SpnValue.Config_DifferentialSensorSource.value, to_deserialize));
        DifferentialTalonFXSensorID = ConfigJNI.Deserializeint(SpnValue.Config_DifferentialTalonFXSensorID.value, to_deserialize);
        DifferentialRemoteSensorID = ConfigJNI.Deserializeint(SpnValue.Config_DifferentialRemoteSensorID.value, to_deserialize);
        return  StatusCode.OK;
    }

    /**
     *
     */
    public String serialize()
    {
        String ss = "";
        ss += ConfigJNI.Serializeint(SpnValue.Config_DifferentialSensorSource.value, DifferentialSensorSource.value);
        ss += ConfigJNI.Serializeint(SpnValue.Config_DifferentialTalonFXSensorID.value, DifferentialTalonFXSensorID);
        ss += ConfigJNI.Serializeint(SpnValue.Config_DifferentialRemoteSensorID.value, DifferentialRemoteSensorID);
        return ss;
    }
}