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

#include <chrono>
#include <thread>
#include <mutex>
#include <functional>
#include <array>

#include "Encoder.h"
#include "VictorSP.h"
#include "Relay.h"
#include "DriverStation.h"
#include "AnalogInput.h"
#include "Compressor.h"
#include "DigitalGlitchFilter.h"
#undef ERROR

#include "aos/common/logging/logging.h"
#include "aos/common/logging/queue_logging.h"
#include "aos/common/time.h"
#include "aos/common/util/log_interval.h"
#include "aos/common/util/phased_loop.h"
#include "aos/common/util/wrapping_counter.h"
#include "aos/common/stl_mutex.h"
#include "aos/linux_code/init.h"
#include "aos/common/messages/robot_state.q.h"
#include "aos/common/commonmath.h"

#include "frc971/control_loops/control_loops.q.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "y2017/constants.h"
#include "y2017/control_loops/drivetrain/drivetrain_dog_motor_plant.h"
#include "y2017/control_loops/superstructure/superstructure.q.h"
#include "y2017/actors/autonomous_action.q.h"

#include "frc971/wpilib/wpilib_robot_base.h"
#include "frc971/wpilib/joystick_sender.h"
#include "frc971/wpilib/loop_output_handler.h"
#include "frc971/wpilib/buffered_solenoid.h"
#include "frc971/wpilib/buffered_pcm.h"
#include "frc971/wpilib/gyro_sender.h"
#include "frc971/wpilib/dma_edge_counting.h"
#include "frc971/wpilib/interrupt_edge_counting.h"
#include "frc971/wpilib/encoder_and_potentiometer.h"
#include "frc971/wpilib/logging.q.h"
#include "frc971/wpilib/wpilib_interface.h"
#include "frc971/wpilib/pdp_fetcher.h"
#include "frc971/wpilib/ADIS16448.h"
#include "frc971/wpilib/dma.h"

#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif

using ::frc971::control_loops::drivetrain_queue;
using ::y2017::control_loops::superstructure_queue;

namespace y2017 {
namespace wpilib {
namespace {
constexpr double kMaxBringupPower = 12.0;
}  // namespace

// TODO(Brian): Fix the interpretation of the result of GetRaw here and in the
// DMA stuff and then removing the * 2.0 in *_translate.
// The low bit is direction.

// TODO(brian): Replace this with ::std::make_unique once all our toolchains
// have support.
template <class T, class... U>
std::unique_ptr<T> make_unique(U &&... u) {
  return std::unique_ptr<T>(new T(std::forward<U>(u)...));
}

// Translates for the sensor values to convert raw index pulses into something
// with proper units.
// TODO(campbell): Update everything below to match sensors on the robot.

// TODO(comran): Template these methods since there is a lot of repetition here.
double drivetrain_translate(int32_t in) {
  return -static_cast<double>(in) / (256.0 /*cpr*/ * 4.0 /*4x*/) *
         constants::Values::kDrivetrainEncoderRatio *
         control_loops::drivetrain::kWheelRadius * 2.0 * M_PI;
}

double drivetrain_velocity_translate(double in) {
  return (1.0 / in) / 256.0 /*cpr*/ *
         constants::Values::kDrivetrainEncoderRatio *
         control_loops::drivetrain::kWheelRadius * 2.0 * M_PI;
}

double shooter_translate(int32_t in) {
  return static_cast<double>(in) / (128.0 /*cpr*/ * 4.0 /*4x*/) *
         constants::Values::kShooterEncoderRatio * (2 * M_PI /*radians*/);
}

double intake_translate(int32_t in) {
  return static_cast<double>(in) / (512.0 /*cpr*/ * 4.0 /*4x*/) *
         constants::Values::kIntakeEncoderRatio * (2 * M_PI /*radians*/);
}

double intake_pot_translate(double voltage) {
  return voltage * constants::Values::kIntakePotRatio *
         (10.0 /*turns*/ / 5.0 /*volts*/) * (2 * M_PI /*radians*/);
}

double turret_translate(int32_t in) {
  return static_cast<double>(in) / (512.0 /*cpr*/ * 4.0 /*4x*/) *
         constants::Values::kTurretEncoderRatio * (2 * M_PI /*radians*/);
}

double turret_pot_translate(double voltage) {
  return voltage * constants::Values::kTurretPotRatio *
         (3.0 /*turns*/ / 5.0 /*volts*/) * (2 * M_PI /*radians*/);
}

double serializer_translate(int32_t in) {
  return static_cast<double>(in) / (512.0 /*cpr*/ * 4.0 /*4x*/) *
         constants::Values::kSerializerEncoderRatio *
         (2 * M_PI /*radians*/);
}

double hood_translate(int32_t in) {
  return static_cast<double>(in) / (512.0 /*cpr*/ * 4.0 /*4x*/) *
         constants::Values::kHoodEncoderRatio * (2 * M_PI /*radians*/);
}

// TODO(campbell): Update all gear ratios below.

constexpr double kMaxDrivetrainEncoderPulsesPerSecond =
    5600.0 /* CIM free speed RPM */ * 14.0 / 48.0 /* 1st reduction */ * 28.0 /
    50.0 /* 2nd reduction (high gear) */ * 30.0 / 44.0 /* encoder gears */ /
    60.0 /* seconds per minute */ * 256.0 /* CPR */ * 4 /* edges per cycle */;

constexpr double kMaxIntakeEncoderPulsesPerSecond =
    18700.0 /* 775pro free speed RPM */ * 12.0 /
    18.0 /* motor to encoder reduction */ / 60.0 /* seconds per minute */ *
    128.0 /* CPR */ * 4 /* edges per cycle */;

constexpr double kMaxShooterEncoderPulsesPerSecond =
    18700.0 /* 775pro free speed RPM */ * 12.0 /
    18.0 /* motor to encoder reduction */ / 60.0 /* seconds per minute */ *
    128.0 /* CPR */ * 4 /* edges per cycle */;

constexpr double kMaxSerializerEncoderPulsesPerSecond =
    18700.0 /* 775pro free speed RPM */ * 12.0 /
    56.0 /* motor to encoder reduction */ / 60.0 /* seconds per minute */ *
    512.0 /* CPR */ * 4 /* index pulse every quarter cycle */;

double kMaxEncoderPulsesPerSecond =
    ::std::max(kMaxSerializerEncoderPulsesPerSecond,
               ::std::max(kMaxIntakeEncoderPulsesPerSecond,
                          ::std::max(kMaxDrivetrainEncoderPulsesPerSecond,
                                     kMaxShooterEncoderPulsesPerSecond)));

// Class to send position messages with sensor readings to our loops.
class SensorReader {
 public:
  SensorReader() {
    // Set it to filter out anything shorter than 1/4 of the minimum pulse width
    // we should ever see.
    drivetrain_shooter_encoder_filter_.SetPeriodNanoSeconds(
        static_cast<int>(1 / 4.0 /* built-in tolerance */ /
                             kMaxDrivetrainShooterEncoderPulsesPerSecond * 1e9 +
                         0.5));
    superstructure_encoder_filter_.SetPeriodNanoSeconds(
        static_cast<int>(1 / 4.0 /* built-in tolerance */ /
                             kMaxSuperstructureEncoderPulsesPerSecond * 1e9 +
                         0.5));
    hall_filter_.SetPeriodNanoSeconds(100000);
  }

  // Drivetrain setters.
  void set_drivetrain_left_encoder(::std::unique_ptr<Encoder> encoder) {
    drivetrain_shooter_encoder_filter_.Add(encoder.get());
    drivetrain_left_encoder_ = ::std::move(encoder);
  }

  void set_drivetrain_right_encoder(::std::unique_ptr<Encoder> encoder) {
    drivetrain_shooter_encoder_filter_.Add(encoder.get());
    drivetrain_right_encoder_ = ::std::move(encoder);
  }

  // Shooter setter.
  void set_shooter_encoder(::std::unique_ptr<Encoder> encoder) {
    drivetrain_shooter_encoder_filter_.Add(encoder.get());
    shooter_encoder_ = ::std::move(encoder);
  }

  // Intake setters.
  void set_intake_encoder(::std::unique_ptr<Encoder> encoder) {
    superstructure_encoder_filter_.Add(encoder.get());
    intake_encoder_.set_encoder(::std::move(encoder));
  }

  void set_intake_potentiometer(::std::unique_ptr<AnalogInput> potentiometer) {
    intake_encoder_.set_potentiometer(::std::move(potentiometer));
  }

  void set_intake_index(::std::unique_ptr<DigitalInput> index) {
    superstructure_encoder_filter_.Add(index.get());
    intake_encoder_.set_index(::std::move(index));
  }

  // Serializer setters.
  void set_serializer_encoder(::std::unique_ptr<Encoder> encoder) {
    serializer_encoder_ = ::std::move(encoder);
  }

  // Turret setters.
  void set_turret_encoder(::std::unique_ptr<Encoder> encoder) {
    superstructure_encoder_filter_.Add(encoder.get());
    turret_encoder_.set_encoder(::std::move(encoder));
  }

  void set_turret_potentiometer(::std::unique_ptr<AnalogInput> potentiometer) {
    turret_encoder_.set_potentiometer(::std::move(potentiometer));
  }

   void set_turret_index(::std::unique_ptr<DigitalInput> index) {
    superstructure_encoder_filter_.Add(index.get());
    turret_encoder_.set_index(::std::move(index));
  }

 // Shooter hood setter.
  void set_hood_encoder(::std::unique_ptr<Encoder> encoder) {
    superstructure_encoder_filter_.Add(encoder.get());
    hood_encoder_.set_encoder(::std::move(encoder));
  }

  void set_hood_potentiometer(::std::unique_ptr<AnalogInput> potentiometer) {
    hood_encoder_.set_potentiometer(::std::move(potentiometer));
  }

  void set_hood_index(::std::unique_ptr<DigitalInput> index) {
    superstructure_encoder_filter_.Add(index.get());
    hood_encoder_.set_index(::std::move(index));
  }

  // Autonomous mode switch setter.
  void set_autonomous_mode(int i, ::std::unique_ptr<DigitalInput> sensor) {
    autonomous_modes_.at(i) = ::std::move(sensor);
  }


  // All of the DMA-related set_* calls must be made before this, and it doesn't
  // hurt to do all of them.
  void set_dma(::std::unique_ptr<DMA> dma) {
    dma_synchronizer_.reset(
        new ::frc971::wpilib::DMASynchronizer(::std::move(dma)));
    dma_synchronizer_->Add(&intake_encoder_);
    dma_synchronizer_->Add(&turret_encoder_);
    dma_synchronizer_->Add(&hood_encoder_);
  }

  void operator()() {
    ::aos::SetCurrentThreadName("SensorReader");

    my_pid_ = getpid();
    ds_ =
        &DriverStation::GetInstance();

    dma_synchronizer_->Start();

    ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(5),
                                        ::std::chrono::milliseconds(4));

    ::aos::SetCurrentThreadRealtimePriority(40);
    while (run_) {
      {
        const int iterations = phased_loop.SleepUntilNext();
        if (iterations != 1) {
          LOG(WARNING, "SensorReader skipped %d iterations\n", iterations - 1);
        }
      }
      RunIteration();
    }
  }

  void RunIteration() {
    ::frc971::wpilib::SendRobotState(my_pid_, ds_);

    const auto values = constants::GetValues();

    {
      auto drivetrain_message = drivetrain_queue.position.MakeMessage();
      drivetrain_message->right_encoder =
          drivetrain_translate(drivetrain_right_encoder_->GetRaw());
      drivetrain_message->left_encoder =
          -drivetrain_translate(drivetrain_left_encoder_->GetRaw());
      drivetrain_message->left_speed =
          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod());
      drivetrain_message->right_speed =
          drivetrain_velocity_translate(drivetrain_right_encoder_->GetPeriod());

      drivetrain_message.Send();
    }

    dma_synchronizer_->RunIteration();

    {
      auto superstructure_message = superstructure_queue.position.MakeMessage();
      CopyPotAndAbsolutePosition(
          intake_encoder_, &superstructure_message->intake, intake_translate,
          intake_pot_translate, false, values.intake_pot_offset);

      superstructure_message->theta_serializer =
          serializer_translate(serializer_encoder_->GetRaw());

      superstructure_message->theta_shooter=
          shooter_translate(shooter_encoder_->GetRaw());

      CopyPotAndAbsolutePosition(hood_encoder_, &superstructure_message->hood,
                                 hood_translate, hood_pot_translate, false,
                                 values.hood_pot_offset);

      CopyPotAndAbsolutePosition(turret_encoder_,
                              &superstructure_message->turret,
                              turret_translate, turret_pot_translate, false,
                              values.turret_pot_offset);

      superstructure_message.Send();
    }

    {
      auto auto_mode_message = ::y2017::actors::auto_mode.MakeMessage();
      auto_mode_message->mode = 0;
      for (size_t i = 0; i < autonomous_modes_.size(); ++i) {
        if (autonomous_modes_[i]->Get()) {
          auto_mode_message->mode |= 1 << i;
        }
      }
      LOG_STRUCT(DEBUG, "auto mode", *auto_mode_message);
      auto_mode_message.Send();
    }
  }

  void Quit() { run_ = false; }

 private:
  void CopyPotAndIndexPosition(
      const ::frc971::wpilib::DMAEncoderAndPotentiometer &encoder,
      ::frc971::PotAndIndexPosition *position,
      ::std::function<double(int32_t)> encoder_translate,
      ::std::function<double(double)> potentiometer_translate, bool reverse,
      double pot_offset) {
    const double multiplier = reverse ? -1.0 : 1.0;
    position->encoder =
        multiplier * encoder_translate(encoder.polled_encoder_value());
    position->pot = multiplier * potentiometer_translate(
                                     encoder.polled_potentiometer_voltage()) +
                    pot_offset;
    position->latched_encoder =
        multiplier * encoder_translate(encoder.last_encoder_value());
    position->latched_pot =
        multiplier *
            potentiometer_translate(encoder.last_potentiometer_voltage()) +
        pot_offset;
    position->index_pulses = encoder.index_posedge_count();
  }

  // TODO(campbell): Fix this stuff. It is all wrong.
  void CopyPotAndAbsolutePosition(
      const ::frc971::wpilib::DMAEncoderAndPotentiometer &encoder,
      ::frc971::PotAndAbsolutePosition *position,
      ::std::function<double(int32_t)> encoder_translate,
      ::std::function<double(double)> potentiometer_translate, bool reverse,
      double pot_offset) {
    const double multiplier = reverse ? -1.0 : 1.0;
    position->pot = multiplier * potentiometer_translate(
                                     encoder.polled_potentiometer_voltage()) +
                    pot_offset;
    position->relative_encoder =
        multiplier * encoder_translate(encoder.last_encoder_value());
    position->absolute_encoder =
        multiplier * encoder_translate(encoder.polled_encoder_value());
  }

  // TODO(campbell): Fix this stuff. It is all wrong.
  void CopyAbsoluteAndIndexPosition(
      const ::frc971::wpilib::DMAEncoderAndPotentiometer &encoder,
      ::frc971::EncoderAndIndexPosition *position,
      ::std::function<double(int32_t)> encoder_translate, bool reverse) {
    const double multiplier = reverse ? -1.0 : 1.0;
    position->encoder =
        multiplier * encoder_translate(encoder.polled_encoder_value());
    position->latched_encoder =
        multiplier * encoder_translate(encoder.last_encoder_value());
    position->index_pulses = encoder.index_posedge_count();
  }

  int32_t my_pid_;
  DriverStation *ds_;

  ::std::unique_ptr<::frc971::wpilib::DMASynchronizer> dma_synchronizer_;

  ::std::unique_ptr<Encoder> drivetrain_left_encoder_,
      drivetrain_right_encoder_;

  ::frc971::wpilib::DMAEncoderAndPotentiometer intake_encoder_;

  ::std::unique_ptr<Encoder> serializer_encoder_;
  ::std::unique_ptr<AnalogInput> serializer_hall_;

  ::frc971::wpilib::DMAEncoderAndPotentiometer turret_encoder_;
  ::frc971::wpilib::DMAEncoderAndPotentiometer hood_encoder_;
  ::std::unique_ptr<Encoder> shooter_encoder_;

  ::std::array<::std::unique_ptr<DigitalInput>, 4> autonomous_modes_;

  ::std::atomic<bool> run_{true};
  DigitalGlitchFilter drivetrain_shooter_encoder_filter_,
      superstructure_encoder_filter_, hall_filter_;
};

class DrivetrainWriter : public ::frc971::wpilib::LoopOutputHandler {
 public:
  void set_drivetrain_left_victor(::std::unique_ptr<VictorSP> t) {
    drivetrain_left_victor_ = ::std::move(t);
  }

  void set_drivetrain_right_victor(::std::unique_ptr<VictorSP> t) {
    drivetrain_right_victor_ = ::std::move(t);
  }

 private:
  virtual void Read() override {
    ::frc971::control_loops::drivetrain_queue.output.FetchAnother();
  }

  virtual void Write() override {
    auto &queue = ::frc971::control_loops::drivetrain_queue.output;
    LOG_STRUCT(DEBUG, "will output", *queue);
    drivetrain_left_victor_->SetSpeed(queue->left_voltage / 12.0);
    drivetrain_right_victor_->SetSpeed(-queue->right_voltage / 12.0);
  }

  virtual void Stop() override {
    LOG(WARNING, "drivetrain output too old\n");
    drivetrain_left_victor_->SetDisabled();
    drivetrain_right_victor_->SetDisabled();
  }

  ::std::unique_ptr<VictorSP> drivetrain_left_victor_, drivetrain_right_victor_;
};

class SuperstructureWriter : public ::frc971::wpilib::LoopOutputHandler {
 public:
  void set_intake_victor(::std::unique_ptr<VictorSP> t) {
    intake_victor_ = ::std::move(t);
  }
  void set_intake_rollers_victor(::std::unique_ptr<VictorSP> t) {
    intake_rollers_victor_ = ::std::move(t);
  }

  void set_serializer_victor(::std::unique_ptr<VictorSP> t) {
    serializer_victor_ = ::std::move(t);
  }
  void set_serializer_roller_victor(::std::unique_ptr<VictorSP> t) {
    serializer_roller_victor_ = ::std::move(t);
  }

  void set_shooter_victor(::std::unique_ptr<VictorSP> t) {
    shooter_victor_ = ::std::move(t);
  }
  void set_turret_victor(::std::unique_ptr<VictorSP> t) {
    turret_victor_ = ::std::move(t);
  }
  void set_hood_victor(::std::unique_ptr<VictorSP> t) {
    hood_victor_ = ::std::move(t);
  }

 private:
  virtual void Read() override {
    ::y2017::control_loops::superstructure_queue.output.FetchAnother();
  }

  virtual void Write() override {
    auto &queue = ::y2017::control_loops::superstructure_queue.output;
    LOG_STRUCT(DEBUG, "will output", *queue);
    intake_victor_->SetSpeed(::aos::Clip(queue->voltage_intake,
                                         -kMaxBringupPower, kMaxBringupPower) /
                             12.0);
    intake_rollers_victor_->SetSpeed(queue->voltage_intake_rollers / 12.0);
    serializer_victor_->SetSpeed(queue->voltage_serializer / 12.0);
    serializer_roller_victor_->SetSpeed(queue->voltage_serializer_rollers /
                                        12.0);
    turret_victor_->SetSpeed(::aos::Clip(queue->voltage_turret,
                                         -kMaxBringupPower, kMaxBringupPower) /
                             12.0);
    hood_victor_->SetSpeed(
        ::aos::Clip(queue->voltage_hood, -kMaxBringupPower, kMaxBringupPower) /
        12.0);
    shooter_victor_->SetSpeed(queue->voltage_shooter / 12.0);
  }

  virtual void Stop() override {
    LOG(WARNING, "Superstructure output too old.\n");
    intake_victor_->SetDisabled();
    intake_rollers_victor_->SetDisabled();
    serializer_victor_->SetDisabled();
    serializer_roller_victor_->SetDisabled();
    turret_victor_->SetDisabled();
    hood_victor_->SetDisabled();
    shooter_victor_->SetDisabled();
  }

  ::std::unique_ptr<VictorSP> intake_victor_, intake_rollers_victor_,
      serializer_victor_, serializer_roller_victor_, shooter_victor_,
      turret_victor_, hood_victor_;
};

class WPILibRobot : public ::frc971::wpilib::WPILibRobotBase {
 public:
  ::std::unique_ptr<Encoder> make_encoder(int index) {
    return make_unique<Encoder>(10 + index * 2, 11 + index * 2, false,
                                Encoder::k4X);
  }

  void Run() override {
    ::aos::InitNRT();
    ::aos::SetCurrentThreadName("StartCompetition");

    ::frc971::wpilib::JoystickSender joystick_sender;
    ::std::thread joystick_thread(::std::ref(joystick_sender));

    ::frc971::wpilib::PDPFetcher pdp_fetcher;
    ::std::thread pdp_fetcher_thread(::std::ref(pdp_fetcher));
    SensorReader reader;

    // TODO(campbell): Update port numbers
    reader.set_drivetrain_left_encoder(make_encoder(0));
    reader.set_drivetrain_right_encoder(make_encoder(1));

    reader.set_intake_encoder(make_encoder(2));
    reader.set_intake_index(make_unique<DigitalInput>(0));
    reader.set_intake_potentiometer(make_unique<AnalogInput>(0));

    reader.set_serializer_encoder(make_encoder(3));
    reader.set_serializer_hall(make_unique<AnalogInput>(1));

    reader.set_turret_encoder(make_encoder(5));
    reader.set_turret_index(make_unique<DigitalInput>(1));
    reader.set_turret_potentiometer(make_unique<AnalogInput>(3));

    reader.set_hood_encoder(make_encoder(6));
    reader.set_hood_index(make_unique<DigitalInput>(2));

    reader.set_shooter_encoder(make_encoder(7));

    reader.set_autonomous_mode(0, make_unique<DigitalInput>(6));
    reader.set_autonomous_mode(1, make_unique<DigitalInput>(5));
    reader.set_autonomous_mode(2, make_unique<DigitalInput>(4));
    reader.set_autonomous_mode(3, make_unique<DigitalInput>(3));

    reader.set_dma(make_unique<DMA>());
    ::std::thread reader_thread(::std::ref(reader));

    ::frc971::wpilib::GyroSender gyro_sender;
    ::std::thread gyro_thread(::std::ref(gyro_sender));

    auto imu_trigger = make_unique<DigitalInput>(5);
    ::frc971::wpilib::ADIS16448 imu(SPI::Port::kMXP, imu_trigger.get());
    ::std::thread imu_thread(::std::ref(imu));

    DrivetrainWriter drivetrain_writer;
    drivetrain_writer.set_drivetrain_left_victor(
        ::std::unique_ptr<VictorSP>(new VictorSP(0)));
    drivetrain_writer.set_drivetrain_right_victor(
        ::std::unique_ptr<VictorSP>(new VictorSP(1)));
    ::std::thread drivetrain_writer_thread(::std::ref(drivetrain_writer));

    SuperstructureWriter superstructure_writer;
    superstructure_writer.set_intake_victor(
        ::std::unique_ptr<VictorSP>(new VictorSP(2)));
    superstructure_writer.set_intake_rollers_victor(
        ::std::unique_ptr<VictorSP>(new VictorSP(3)));
    superstructure_writer.set_serializer_victor(
        ::std::unique_ptr<VictorSP>(new VictorSP(4)));
    superstructure_writer.set_serializer_roller_victor(
        ::std::unique_ptr<VictorSP>(new VictorSP(5)));
    superstructure_writer.set_turret_victor(
        ::std::unique_ptr<VictorSP>(new VictorSP(6)));
    superstructure_writer.set_hood_victor(
        ::std::unique_ptr<VictorSP>(new VictorSP(7)));
    superstructure_writer.set_shooter_victor(
        ::std::unique_ptr<VictorSP>(new VictorSP(8)));
    ::std::thread superstructure_writer_thread(
        ::std::ref(superstructure_writer));

    // Wait forever. Not much else to do...
    while (true) {
      const int r = select(0, nullptr, nullptr, nullptr, nullptr);
      if (r != 0) {
        PLOG(WARNING, "infinite select failed");
      } else {
        PLOG(WARNING, "infinite select succeeded??\n");
      }
    }

    LOG(ERROR, "Exiting WPILibRobot\n");

    joystick_sender.Quit();
    joystick_thread.join();
    pdp_fetcher.Quit();
    pdp_fetcher_thread.join();
    reader.Quit();
    reader_thread.join();
    gyro_sender.Quit();
    gyro_thread.join();
    imu.Quit();
    imu_thread.join();

    drivetrain_writer.Quit();
    drivetrain_writer_thread.join();
    superstructure_writer.Quit();
    superstructure_writer_thread.join();

    ::aos::Cleanup();
  }
};

}  // namespace wpilib
}  // namespace y2017

AOS_ROBOT_CLASS(::y2017::wpilib::WPILibRobot);