/*
 * 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 java.util.HashMap;
import java.util.Map;

/**
 * Request PID to target velocity with voltage feedforward.
 * <p>
 * This control mode will set the motor's velocity setpoint to the velocity specified by the user. In
 * addition, it will apply an additional voltage as an arbitrary feedforward value.
 */
public class VelocityVoltage extends ControlRequest implements Cloneable
{
    /**
     * Velocity to drive toward in rotations per second.
     */
    public double Velocity;
    /**
     * Acceleration to drive toward in rotations per second squared. This is
     * typically used for motion profiles generated by the robot program.
     */
    public double Acceleration;
    /**
     * 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;
    /**
     * Feedforward to apply in volts
     */
    public double FeedForward;
    /**
     * 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;
    /**
     * 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;
    /**
     * 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;
    /**
     * 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;

    /**
     * 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; // Default to 100Hz

    /**
     * Request PID to target velocity with voltage feedforward.
     * <p>
     * This control mode will set the motor's velocity setpoint to the velocity
     * specified by the user. In addition, it will apply an additional voltage as an
     * arbitrary feedforward value.
     * 
     * @param Velocity    Velocity to drive toward in rotations per second.
     * @param Acceleration    Acceleration to drive toward in rotations per second
     *                        squared. This is typically used for motion profiles
     *                        generated by the robot program.
     * @param EnableFOC    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 FeedForward    Feedforward to apply in volts
     * @param Slot    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 OverrideBrakeDurNeutral    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 LimitForwardMotion    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 LimitReverseMotion    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 VelocityVoltage(double Velocity, double Acceleration, boolean EnableFOC, double FeedForward, int Slot, boolean OverrideBrakeDurNeutral, boolean LimitForwardMotion, boolean LimitReverseMotion)
    {
        super("VelocityVoltage");
        this.Velocity = Velocity;
        this.Acceleration = Acceleration;
        this.EnableFOC = EnableFOC;
        this.FeedForward = FeedForward;
        this.Slot = Slot;
        this.OverrideBrakeDurNeutral = OverrideBrakeDurNeutral;
        this.LimitForwardMotion = LimitForwardMotion;
        this.LimitReverseMotion = LimitReverseMotion;
    }

        /**
     * Request PID to target velocity with voltage feedforward.
     * <p>
     * This control mode will set the motor's velocity setpoint to the velocity
     * specified by the user. In addition, it will apply an additional voltage as an
     * arbitrary feedforward value.
     * 
     * @param Velocity    Velocity to drive toward in rotations per second.
     */
    public VelocityVoltage(double Velocity)
    {
        this(Velocity, 0.0, true, 0.0, 0, false, false, false);
    }

    @Override
    public String toString()
    {
        String ss = "class: VelocityVoltage\n";
        ss += "Velocity: " + Velocity + "\n";
        ss += "Acceleration: " + Acceleration + "\n";
        ss += "EnableFOC: " + EnableFOC + "\n";
        ss += "FeedForward: " + FeedForward + "\n";
        ss += "Slot: " + Slot + "\n";
        ss += "OverrideBrakeDurNeutral: " + OverrideBrakeDurNeutral + "\n";
        ss += "LimitForwardMotion: " + LimitForwardMotion + "\n";
        ss += "LimitReverseMotion: " + LimitReverseMotion + "\n";
        return ss;
    }

    @Override
    public StatusCode sendRequest(String network, int deviceHash, boolean cancelOtherRequests)
    {
        return StatusCode.valueOf(ControlJNI.JNI_RequestControlVelocityVoltage(
                network, deviceHash, UpdateFreqHz, cancelOtherRequests, Velocity, Acceleration, EnableFOC, FeedForward, Slot, OverrideBrakeDurNeutral, LimitForwardMotion, LimitReverseMotion));
    }

    /**
     * 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("Velocity", String.valueOf(this.Velocity));
        controlInfo.put("Acceleration", String.valueOf(this.Acceleration));
        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));
        return controlInfo;
    }
    
    /**
     * Modifies this Control Request's Velocity parameter and returns itself for
     * method-chaining and easier to use request API.
     * <p>
     * Velocity to drive toward in rotations per second.
     *
     * @param newVelocity Parameter to modify
     * @return Itself
     */
    public VelocityVoltage withVelocity(double newVelocity)
    {
        Velocity = newVelocity;
        return this;
    }
    
    /**
     * Modifies this Control Request's Acceleration parameter and returns itself for
     * method-chaining and easier to use request API.
     * <p>
     * Acceleration to drive toward in rotations per second squared. This is
     * typically used for motion profiles generated by the robot program.
     *
     * @param newAcceleration Parameter to modify
     * @return Itself
     */
    public VelocityVoltage withAcceleration(double newAcceleration)
    {
        Acceleration = newAcceleration;
        return this;
    }
    
    /**
     * 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 VelocityVoltage 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 volts
     *
     * @param newFeedForward Parameter to modify
     * @return Itself
     */
    public VelocityVoltage 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 VelocityVoltage 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 VelocityVoltage 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 VelocityVoltage 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 VelocityVoltage withLimitReverseMotion(boolean newLimitReverseMotion)
    {
        LimitReverseMotion = newLimitReverseMotion;
        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 VelocityVoltage withUpdateFreqHz(double newUpdateFreqHz)
    {
        UpdateFreqHz = newUpdateFreqHz;
        return this;
    }

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