/*
 * 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.CANBus;
import com.ctre.phoenix6.StatusCode;
import com.ctre.phoenix6.controls.jni.ControlJNI;
import com.ctre.phoenix6.hardware.traits.*;

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;

/**
 * Requires Phoenix Pro;
 * Request PID to target position with torque current feedforward.
 * <p>
 * This control mode will set the motor's position setpoint to the position specified by the user. In
 * addition, it will apply an additional torque current as an arbitrary feedforward value.
 */
public final class PositionTorqueCurrentFOC implements ControlRequest, Cloneable {
    /**
     * Position to drive toward in rotations.
     * 
     * <ul>
     *   <li> Units: rotations
     * </ul>
     * 
     */
    public double Position;
    /**
     * Velocity to drive toward in rotations per second. This is typically used for
     * motion profiles generated by the robot program.
     * 
     * <ul>
     *   <li> Units: rotations per second
     * </ul>
     * 
     */
    public double Velocity = 0.0;
    /**
     * Feedforward to apply in torque current in Amperes. This is added to the
     * output of the onboard feedforward terms.
     * <p>
     * User can use motor's kT to scale Newton-meter to Amperes.
     * 
     * <ul>
     *   <li> Units: A
     * </ul>
     * 
     */
    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 coast 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 0A (zero torque).
     */
    public boolean OverrideCoastDurNeutral = 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 ignore software limits, instead allowing motion.
     * <p>
     * This can be useful when calibrating the zero point of a mechanism such as an
     * elevator.
     * <p>
     * The software limit faults will still report the values of the software limits
     * regardless of this parameter.
     */
    public boolean IgnoreSoftwareLimits = 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 frequency at which this control will update.
     * This is designated in Hertz, with a minimum of 20 Hz
     * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
     * Some update frequencies are not supported and will be
     * promoted up to the next highest supported frequency.
     * <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;

    /**
     * Requires Phoenix Pro;
     * Request PID to target position with torque current feedforward.
     * <p>
     * This control mode will set the motor's position setpoint to the position
     * specified by the user. In addition, it will apply an additional torque
     * current as an arbitrary feedforward value.
     * 
     * @param Position Position to drive toward in rotations.
     */
    public PositionTorqueCurrentFOC(double Position) {
        this.Position = Position;
    }

    /**
     * Requires Phoenix Pro;
     * Request PID to target position with torque current feedforward.
     * <p>
     * This control mode will set the motor's position setpoint to the position
     * specified by the user. In addition, it will apply an additional torque
     * current as an arbitrary feedforward value.
     * 
     * @param Position Position to drive toward in rotations.
     */
    public PositionTorqueCurrentFOC(Angle Position) {
        this(Position.in(Rotations));
    }

    @Override
    public String getName() {
        return "PositionTorqueCurrentFOC";
    }

    @Override
    public String toString() {
        String ss = "Control: PositionTorqueCurrentFOC\n";
        ss += "    Position: " + Position + " rotations" + "\n";
        ss += "    Velocity: " + Velocity + " rotations per second" + "\n";
        ss += "    FeedForward: " + FeedForward + " A" + "\n";
        ss += "    Slot: " + Slot + "\n";
        ss += "    OverrideCoastDurNeutral: " + OverrideCoastDurNeutral + "\n";
        ss += "    LimitForwardMotion: " + LimitForwardMotion + "\n";
        ss += "    LimitReverseMotion: " + LimitReverseMotion + "\n";
        ss += "    IgnoreHardwareLimits: " + IgnoreHardwareLimits + "\n";
        ss += "    IgnoreSoftwareLimits: " + IgnoreSoftwareLimits + "\n";
        ss += "    UseTimesync: " + UseTimesync + "\n";
        return ss;
    }

    @Override
    public StatusCode sendRequest(CANBus network, int deviceHash) {
        return StatusCode.valueOf(ControlJNI.JNI_RequestControlPositionTorqueCurrentFOC(
                network.getNameUTF8Bytes(), deviceHash, UpdateFreqHz, Position, Velocity, FeedForward, Slot, OverrideCoastDurNeutral, LimitForwardMotion, LimitReverseMotion, IgnoreHardwareLimits, IgnoreSoftwareLimits, 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("Velocity", String.valueOf(this.Velocity));
        controlInfo.put("FeedForward", String.valueOf(this.FeedForward));
        controlInfo.put("Slot", String.valueOf(this.Slot));
        controlInfo.put("OverrideCoastDurNeutral", String.valueOf(this.OverrideCoastDurNeutral));
        controlInfo.put("LimitForwardMotion", String.valueOf(this.LimitForwardMotion));
        controlInfo.put("LimitReverseMotion", String.valueOf(this.LimitReverseMotion));
        controlInfo.put("IgnoreHardwareLimits", String.valueOf(this.IgnoreHardwareLimits));
        controlInfo.put("IgnoreSoftwareLimits", String.valueOf(this.IgnoreSoftwareLimits));
        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.
     * 
     * <ul>
     *   <li> Units: rotations
     * </ul>
     * 
     *
     * @param newPosition Parameter to modify
     * @return Itself
     */
    public PositionTorqueCurrentFOC 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.
     * 
     * <ul>
     *   <li> Units: rotations
     * </ul>
     * 
     *
     * @param newPosition Parameter to modify
     * @return Itself
     */
    public PositionTorqueCurrentFOC 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.
     * 
     * <ul>
     *   <li> Units: rotations
     * </ul>
     * 
     *
     * @return Position
     */
    public Angle getPositionMeasure() {
        return Rotations.of(Position);
    }
    
    /**
     * 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. This is typically used for
     * motion profiles generated by the robot program.
     * 
     * <ul>
     *   <li> Units: rotations per second
     * </ul>
     * 
     *
     * @param newVelocity Parameter to modify
     * @return Itself
     */
    public PositionTorqueCurrentFOC withVelocity(double newVelocity) {
        Velocity = newVelocity;
        return this;
    }
    
    /**
     * 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. This is typically used for
     * motion profiles generated by the robot program.
     * 
     * <ul>
     *   <li> Units: rotations per second
     * </ul>
     * 
     *
     * @param newVelocity Parameter to modify
     * @return Itself
     */
    public PositionTorqueCurrentFOC withVelocity(AngularVelocity newVelocity) {
        Velocity = newVelocity.in(RotationsPerSecond);
        return this;
    }
    
    /**
     * Helper method to get this Control Request's Velocity parameter converted
     * to a unit type. If not using the Java units library, {@link #Velocity}
     * can be accessed directly instead.
     * <p>
     * Velocity to drive toward in rotations per second. This is typically used for
     * motion profiles generated by the robot program.
     * 
     * <ul>
     *   <li> Units: rotations per second
     * </ul>
     * 
     *
     * @return Velocity
     */
    public AngularVelocity getVelocityMeasure() {
        return RotationsPerSecond.of(Velocity);
    }
    
    /**
     * Modifies this Control Request's FeedForward parameter and returns itself for
     * method-chaining and easier to use request API.
     * <p>
     * Feedforward to apply in torque current in Amperes. This is added to the
     * output of the onboard feedforward terms.
     * <p>
     * User can use motor's kT to scale Newton-meter to Amperes.
     * 
     * <ul>
     *   <li> Units: A
     * </ul>
     * 
     *
     * @param newFeedForward Parameter to modify
     * @return Itself
     */
    public PositionTorqueCurrentFOC withFeedForward(double newFeedForward) {
        FeedForward = newFeedForward;
        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 torque current in Amperes. This is added to the
     * output of the onboard feedforward terms.
     * <p>
     * User can use motor's kT to scale Newton-meter to Amperes.
     * 
     * <ul>
     *   <li> Units: A
     * </ul>
     * 
     *
     * @param newFeedForward Parameter to modify
     * @return Itself
     */
    public PositionTorqueCurrentFOC withFeedForward(Current newFeedForward) {
        FeedForward = newFeedForward.in(Amps);
        return this;
    }
    
    /**
     * Helper method to get this Control Request's FeedForward parameter converted
     * to a unit type. If not using the Java units library, {@link #FeedForward}
     * can be accessed directly instead.
     * <p>
     * Feedforward to apply in torque current in Amperes. This is added to the
     * output of the onboard feedforward terms.
     * <p>
     * User can use motor's kT to scale Newton-meter to Amperes.
     * 
     * <ul>
     *   <li> Units: A
     * </ul>
     * 
     *
     * @return FeedForward
     */
    public Current getFeedForwardMeasure() {
        return Amps.of(FeedForward);
    }
    
    /**
     * 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 PositionTorqueCurrentFOC withSlot(int newSlot) {
        Slot = newSlot;
        return this;
    }
    
    /**
     * Modifies this Control Request's OverrideCoastDurNeutral parameter and returns itself for
     * method-chaining and easier to use request API.
     * <p>
     * Set to true to coast 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 0A (zero torque).
     *
     * @param newOverrideCoastDurNeutral Parameter to modify
     * @return Itself
     */
    public PositionTorqueCurrentFOC withOverrideCoastDurNeutral(boolean newOverrideCoastDurNeutral) {
        OverrideCoastDurNeutral = newOverrideCoastDurNeutral;
        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 PositionTorqueCurrentFOC 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 PositionTorqueCurrentFOC 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 PositionTorqueCurrentFOC withIgnoreHardwareLimits(boolean newIgnoreHardwareLimits) {
        IgnoreHardwareLimits = newIgnoreHardwareLimits;
        return this;
    }
    
    /**
     * Modifies this Control Request's IgnoreSoftwareLimits parameter and returns itself for
     * method-chaining and easier to use request API.
     * <p>
     * Set to true to ignore software limits, instead allowing motion.
     * <p>
     * This can be useful when calibrating the zero point of a mechanism such as an
     * elevator.
     * <p>
     * The software limit faults will still report the values of the software limits
     * regardless of this parameter.
     *
     * @param newIgnoreSoftwareLimits Parameter to modify
     * @return Itself
     */
    public PositionTorqueCurrentFOC withIgnoreSoftwareLimits(boolean newIgnoreSoftwareLimits) {
        IgnoreSoftwareLimits = newIgnoreSoftwareLimits;
        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 PositionTorqueCurrentFOC withUseTimesync(boolean newUseTimesync) {
        UseTimesync = newUseTimesync;
        return this;
    }

    /**
     * Sets the frequency at which this control will update.
     * This is designated in Hertz, with a minimum of 20 Hz
     * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
     * Some update frequencies are not supported and will be
     * promoted up to the next highest supported frequency.
     * <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 PositionTorqueCurrentFOC withUpdateFreqHz(double newUpdateFreqHz) {
        UpdateFreqHz = newUpdateFreqHz;
        return this;
    }

    /**
     * Sets the frequency at which this control will update.
     * This is designated in Hertz, with a minimum of 20 Hz
     * (every 50 ms) and a maximum of 1000 Hz (every 1 ms).
     * Some update frequencies are not supported and will be
     * promoted up to the next highest supported frequency.
     * <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 PositionTorqueCurrentFOC withUpdateFreqHz(Frequency newUpdateFreqHz) {
        UpdateFreqHz = newUpdateFreqHz.in(Hertz);
        return this;
    }

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