#include <stdio.h>
#include <string.h>
#include <unistd.h>
#include <math.h>

#include "aos/linux_code/init.h"
#include "aos/input/joystick_input.h"
#include "aos/common/input/driver_station_data.h"
#include "aos/common/logging/logging.h"
#include "aos/common/time.h"
#include "aos/common/actions/actions.h"

#include "y2012/control_loops/drivetrain/drivetrain.q.h"
#include "y2012/control_loops/accessories/accessories.q.h"

using ::y2012::control_loops::drivetrain_queue;
using ::y2012::control_loops::accessories_queue;

using ::aos::input::driver_station::ButtonLocation;
using ::aos::input::driver_station::JoystickAxis;
using ::aos::input::driver_station::ControlBit;

#define OLD_DS 0

namespace y2012 {
namespace input {
namespace joysticks {

const JoystickAxis kSteeringWheel(1, 1), kDriveThrottle(2, 2);
const ButtonLocation kShiftHigh(2, 3), kShiftLow(2, 1);
const ButtonLocation kQuickTurn(1, 5);

const ButtonLocation kCatch(3, 10);

#if OLD_DS
const ButtonLocation kFire(3, 11);
const ButtonLocation kUnload(1, 4);
const ButtonLocation kReload(1, 2);

const ButtonLocation kRollersOut(3, 12);
const ButtonLocation kRollersIn(3, 7);

const ButtonLocation kTuck(3, 9);
const ButtonLocation kIntakePosition(3, 8);
const ButtonLocation kIntakeOpenPosition(3, 10);
const ButtonLocation kVerticalTuck(3, 1);
const JoystickAxis kFlipRobot(3, 3);

const ButtonLocation kLongShot(3, 5);
const ButtonLocation kCloseShot(3, 2);
const ButtonLocation kFenderShot(3, 3);
const ButtonLocation kTrussShot(2, 11);
const ButtonLocation kHumanPlayerShot(3, 2);
#else
const ButtonLocation kFire(3, 9);
const ButtonLocation kUnload(1, 4);
const ButtonLocation kReload(1, 2);

const ButtonLocation kRollersOut(3, 8);
const ButtonLocation kRollersIn(3, 3);

const ButtonLocation kTuck(3, 4);
const ButtonLocation kIntakePosition(3, 5);
const ButtonLocation kIntakeOpenPosition(3, 11);
const ButtonLocation kVerticalTuck(2, 6);
const JoystickAxis kFlipRobot(3, 3);

const ButtonLocation kLongShot(3, 7);
const ButtonLocation kCloseShot(3, 6);
const ButtonLocation kFenderShot(3, 2);
const ButtonLocation kTrussShot(2, 11);
const ButtonLocation kHumanPlayerShot(3, 1);
#endif

const ButtonLocation kUserLeft(2, 7);
const ButtonLocation kUserRight(2, 10);

const JoystickAxis kAdjustClawGoal(3, 2);
const JoystickAxis kAdjustClawSeparation(3, 1);

class Reader : public ::aos::input::JoystickInput {
 public:
  Reader()
      : is_high_gear_(false) {}

  void RunIteration(const ::aos::input::driver_station::Data &data) override {
    if (!data.GetControlBit(ControlBit::kAutonomous)) {
      HandleDrivetrain(data);
      HandleTeleop(data);
    }
  }

  void HandleDrivetrain(const ::aos::input::driver_station::Data &data) {
    const double wheel = -data.GetAxis(kSteeringWheel);
    const double throttle = -data.GetAxis(kDriveThrottle);
    if (data.PosEdge(kShiftLow)) {
      is_high_gear_ = false;
    }
    if (data.PosEdge(kShiftHigh)) {
      is_high_gear_ = true;
    }
    if (!drivetrain_queue.goal.MakeWithBuilder()
             .steering(wheel)
             .throttle(throttle)
             .highgear(is_high_gear_)
             .quickturn(data.IsPressed(kQuickTurn))
             .left_velocity_goal(0)
             .right_velocity_goal(0)
             .Send()) {
      LOG(WARNING, "sending stick values failed\n");
    }
  }

  void HandleTeleop(const ::aos::input::driver_station::Data &data) {
    if (!data.GetControlBit(ControlBit::kEnabled)) {
      action_queue_.CancelAllActions();
        LOG(DEBUG, "Canceling\n");
    }

    {
      auto accessories_message = accessories_queue.goal.MakeMessage();
      accessories_message->solenoids[0] = data.IsPressed(kLongShot);
      accessories_message->solenoids[1] = data.IsPressed(kCloseShot);
      accessories_message->solenoids[2] = data.IsPressed(kFenderShot);
      accessories_message->sticks[0] = data.GetAxis(kAdjustClawGoal);
      accessories_message->sticks[1] = data.GetAxis(kAdjustClawSeparation);
      if (!accessories_message.Send()) {
        LOG(WARNING, "sending accessories goal failed\n");
      }
    }

    action_queue_.Tick();
  }

 private:
  bool is_high_gear_;

  ::aos::common::actions::ActionQueue action_queue_;
};

}  // namespace joysticks
}  // namespace input
}  // namespace y2012

int main() {
  ::aos::Init(-1);
  ::y2012::input::joysticks::Reader reader;
  reader.Run();
  ::aos::Cleanup();
}