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

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

#include "frc971/wpilib/ahal/AnalogInput.h"
#include "frc971/wpilib/ahal/Compressor.h"
#include "frc971/wpilib/ahal/Counter.h"
#include "frc971/wpilib/ahal/DigitalGlitchFilter.h"
#include "frc971/wpilib/ahal/DriverStation.h"
#include "frc971/wpilib/ahal/Encoder.h"
#include "frc971/wpilib/ahal/Relay.h"
#include "frc971/wpilib/ahal/Servo.h"
#include "frc971/wpilib/ahal/VictorSP.h"
#undef ERROR

#include "aos/commonmath.h"
#include "aos/init.h"
#include "aos/logging/logging.h"
#include "aos/logging/queue_logging.h"
#include "aos/make_unique.h"
#include "aos/robot_state/robot_state.q.h"
#include "aos/stl_mutex/stl_mutex.h"
#include "aos/time/time.h"
#include "aos/util/compiler_memory_barrier.h"
#include "aos/util/log_interval.h"
#include "aos/util/phased_loop.h"
#include "aos/util/wrapping_counter.h"
#include "frc971/autonomous/auto.q.h"
#include "frc971/control_loops/control_loops.q.h"
#include "frc971/control_loops/drivetrain/drivetrain.q.h"
#include "frc971/wpilib/ADIS16448.h"
#include "frc971/wpilib/buffered_pcm.h"
#include "frc971/wpilib/buffered_solenoid.h"
#include "frc971/wpilib/dma.h"
#include "frc971/wpilib/dma_edge_counting.h"
#include "frc971/wpilib/drivetrain_writer.h"
#include "frc971/wpilib/encoder_and_potentiometer.h"
#include "frc971/wpilib/interrupt_edge_counting.h"
#include "frc971/wpilib/joystick_sender.h"
#include "frc971/wpilib/logging.q.h"
#include "frc971/wpilib/loop_output_handler.h"
#include "frc971/wpilib/pdp_fetcher.h"
#include "frc971/wpilib/sensor_reader.h"
#include "frc971/wpilib/wpilib_robot_base.h"
#include "y2017/constants.h"
#include "y2017/control_loops/superstructure/superstructure.q.h"

#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif

using ::frc971::control_loops::drivetrain_queue;
using ::y2017::control_loops::superstructure_queue;
using ::y2017::constants::Values;
using ::aos::monotonic_clock;
namespace chrono = ::std::chrono;
using namespace frc;
using aos::make_unique;

namespace y2017 {
namespace wpilib {
namespace {

constexpr double kMaxBringupPower = 12.0;

// 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): Use ::std::max instead once we have C++14 so that can be
// constexpr.
template <typename T>
constexpr T max(T a, T b) {
  return (a > b) ? a : b;
}
template <typename T, typename... Rest>
constexpr T max(T a, T b, T c, Rest... rest) {
  return max(max(a, b), c, rest...);
}

double drivetrain_translate(int32_t in) {
  return static_cast<double>(in) /
         Values::kDrivetrainEncoderCountsPerRevolution *
         Values::kDrivetrainEncoderRatio * 2.0 * M_PI;
}

double drivetrain_velocity_translate(double in) {
  return (1.0 / in) / Values::kDrivetrainCyclesPerRevolution *
         Values::kDrivetrainEncoderRatio * 2.0 * M_PI;
}

// TODO(Travis): Make sure the number of turns is right.
double intake_pot_translate(double voltage) {
  return voltage * Values::kIntakePotRatio * (3.0 /*turns*/ / 5.0 /*volts*/) *
         (2 * M_PI /*radians*/);
}

constexpr double kMaxFastEncoderPulsesPerSecond =
    max(Values::kMaxDrivetrainEncoderPulsesPerSecond,
        Values::kMaxShooterEncoderPulsesPerSecond);
static_assert(kMaxFastEncoderPulsesPerSecond <= 1300000,
              "fast encoders are too fast");
constexpr double kMaxMediumEncoderPulsesPerSecond =
    max(Values::kMaxIntakeEncoderPulsesPerSecond,
        Values::kMaxTurretEncoderPulsesPerSecond,
        Values::kMaxIndexerEncoderPulsesPerSecond);
static_assert(kMaxMediumEncoderPulsesPerSecond <= 400000,
              "medium encoders are too fast");
constexpr double kMaxSlowEncoderPulsesPerSecond =
    Values::kMaxHoodEncoderPulsesPerSecond;
static_assert(kMaxSlowEncoderPulsesPerSecond <= 100000,
              "slow encoders are too fast");
static_assert(kMaxSlowEncoderPulsesPerSecond < kMaxMediumEncoderPulsesPerSecond,
              "slow encoders are faster than medium?");

// Class to send position messages with sensor readings to our loops.
class SensorReader : public ::frc971::wpilib::SensorReader {
 public:
  SensorReader() {
    // Set to filter out anything shorter than 1/4 of the minimum pulse width
    // we should ever see.
    UpdateFastEncoderFilterHz(kMaxFastEncoderPulsesPerSecond);
    UpdateMediumEncoderFilterHz(kMaxMediumEncoderPulsesPerSecond);
    hall_filter_.SetPeriodNanoSeconds(100000);
  }

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

  void set_intake_encoder(::std::unique_ptr<Encoder> encoder) {
    medium_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_absolute(::std::unique_ptr<DigitalInput> input) {
    intake_encoder_.set_absolute_pwm(::std::move(input));
  }

  void set_indexer_encoder(::std::unique_ptr<Encoder> encoder) {
    medium_encoder_filter_.Add(encoder.get());
    indexer_counter_.set_encoder(encoder.get());
    indexer_encoder_ = ::std::move(encoder);
  }

  void set_indexer_hall(::std::unique_ptr<DigitalInput> input) {
    hall_filter_.Add(input.get());
    indexer_counter_.set_input(input.get());
    indexer_hall_ = ::std::move(input);
  }

  void set_turret_encoder(::std::unique_ptr<Encoder> encoder) {
    medium_encoder_filter_.Add(encoder.get());
    turret_counter_.set_encoder(encoder.get());
    turret_encoder_ = ::std::move(encoder);
  }

  void set_turret_hall(::std::unique_ptr<DigitalInput> input) {
    hall_filter_.Add(input.get());
    turret_counter_.set_input(input.get());
    turret_hall_ = ::std::move(input);
  }

  void set_hood_encoder(::std::unique_ptr<Encoder> encoder) {
    medium_encoder_filter_.Add(encoder.get());
    hood_encoder_.set_encoder(::std::move(encoder));
  }

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

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

  void Start() {
    AddToDMA(&indexer_counter_);
    AddToDMA(&hood_encoder_);
    AddToDMA(&turret_counter_);
  }

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

      drivetrain_message->left_encoder =
          -drivetrain_translate(drivetrain_left_encoder_->GetRaw());
      drivetrain_message->left_speed =
          drivetrain_velocity_translate(drivetrain_left_encoder_->GetPeriod());

      drivetrain_message.Send();
    }
  }

  void RunDMAIteration() {
    const auto values = constants::GetValues();

    {
      auto superstructure_message = superstructure_queue.position.MakeMessage();
      CopyPosition(intake_encoder_, &superstructure_message->intake,
                   Values::kIntakeEncoderCountsPerRevolution,
                   Values::kIntakeEncoderRatio, intake_pot_translate, true,
                   values.intake.pot_offset);

      CopyPosition(indexer_counter_, &superstructure_message->column.indexer,
                   Values::kIndexerEncoderCountsPerRevolution,
                   Values::kIndexerEncoderRatio, true);

      superstructure_message->theta_shooter =
          encoder_translate(shooter_encoder_->GetRaw(),
                            Values::kShooterEncoderCountsPerRevolution,
                            Values::kShooterEncoderRatio);

      CopyPosition(hood_encoder_, &superstructure_message->hood,
                   Values::kHoodEncoderCountsPerRevolution,
                   Values::kHoodEncoderRatio, true);

      CopyPosition(turret_counter_, &superstructure_message->column.turret,
                   Values::kTurretEncoderCountsPerRevolution,
                   Values::kTurretEncoderRatio, false);

      superstructure_message.Send();
    }

    {
      auto auto_mode_message = ::frc971::autonomous::auto_mode.MakeMessage();
      auto_mode_message->mode = 0;
      for (size_t i = 0; i < autonomous_modes_.size(); ++i) {
        if (autonomous_modes_[i] && autonomous_modes_[i]->Get()) {
          auto_mode_message->mode |= 1 << i;
        }
      }
      LOG_STRUCT(DEBUG, "auto mode", *auto_mode_message);
      auto_mode_message.Send();
    }
  }

 private:
  DigitalGlitchFilter hall_filter_;

  ::frc971::wpilib::AbsoluteEncoderAndPotentiometer intake_encoder_;

  ::std::unique_ptr<Encoder> indexer_encoder_;
  ::std::unique_ptr<DigitalInput> indexer_hall_;
  ::frc971::wpilib::DMAEdgeCounter indexer_counter_;

  ::std::unique_ptr<Encoder> turret_encoder_;
  ::std::unique_ptr<DigitalInput> turret_hall_;
  ::frc971::wpilib::DMAEdgeCounter turret_counter_;

  ::frc971::wpilib::DMAEncoder hood_encoder_;
  ::std::unique_ptr<Encoder> shooter_encoder_;

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

class SolenoidWriter {
 public:
  SolenoidWriter()
      : superstructure_(".y2017.control_loops.superstructure_queue.output") {}

  ::frc971::wpilib::BufferedPcm *pcm() { return &pcm_; }

  void set_lights(::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> s) {
    lights_ = ::std::move(s);
  }

  void set_rgb_light(::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> s) {
    rgb_lights_ = ::std::move(s);
  }

  void operator()() {
    ::aos::SetCurrentThreadName("Solenoids");
    ::aos::SetCurrentThreadRealtimePriority(27);

    ::aos::time::PhasedLoop phased_loop(::std::chrono::milliseconds(20),
                                        ::std::chrono::milliseconds(1));

    while (run_) {
      {
        const int iterations = phased_loop.SleepUntilNext();
        if (iterations != 1) {
          LOG(DEBUG, "Solenoids skipped %d iterations\n", iterations - 1);
        }
      }

      {
        superstructure_.FetchLatest();
        if (superstructure_.get()) {
          LOG_STRUCT(DEBUG, "solenoids", *superstructure_);
          lights_->Set(superstructure_->lights_on);
          rgb_lights_->Set(superstructure_->red_light_on |
                           superstructure_->green_light_on |
                           superstructure_->blue_light_on);
        }
      }

      pcm_.Flush();
    }
  }

  void Quit() { run_ = false; }

 private:
  ::frc971::wpilib::BufferedPcm pcm_;

  ::std::unique_ptr<::frc971::wpilib::BufferedSolenoid> lights_, rgb_lights_;

  ::aos::Queue<::y2017::control_loops::SuperstructureQueue::Output>
      superstructure_;

  ::std::atomic<bool> run_{true};
};

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

  void set_indexer_victor(::std::unique_ptr<::frc::VictorSP> t) {
    indexer_victor_ = ::std::move(t);
  }
  void set_indexer_roller_victor(::std::unique_ptr<::frc::VictorSP> t) {
    indexer_roller_victor_ = ::std::move(t);
  }

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

  void set_red_light(::std::unique_ptr<DigitalOutput> t) {
    red_light_ = ::std::move(t);
  }
  void set_green_light(::std::unique_ptr<DigitalOutput> t) {
    green_light_ = ::std::move(t);
  }
  void set_blue_light(::std::unique_ptr<DigitalOutput> t) {
    blue_light_ = ::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);
    indexer_victor_->SetSpeed(-queue->voltage_indexer / 12.0);
    indexer_roller_victor_->SetSpeed(queue->voltage_indexer_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);

    red_light_->Set(queue->red_light_on);
    green_light_->Set(queue->green_light_on);
    blue_light_->Set(queue->blue_light_on);

    gear_servo_->SetPosition(queue->gear_servo);
  }

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

    gear_servo_->SetRaw(0);

    red_light_->Set(true);
    green_light_->Set(true);
    blue_light_->Set(true);
  }

  ::std::unique_ptr<::frc::VictorSP> intake_victor_, intake_rollers_victor_,
      indexer_victor_, indexer_roller_victor_, shooter_victor_, turret_victor_,
      hood_victor_;

  ::std::unique_ptr<::frc::Servo> gear_servo_;

  ::std::unique_ptr<DigitalOutput> red_light_, green_light_, blue_light_;
};

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(3));
    reader.set_intake_absolute(make_unique<DigitalInput>(0));
    reader.set_intake_potentiometer(make_unique<AnalogInput>(4));

    reader.set_indexer_encoder(make_encoder(5));
    reader.set_indexer_hall(make_unique<DigitalInput>(4));

    reader.set_turret_encoder(make_encoder(6));
    reader.set_turret_hall(make_unique<DigitalInput>(2));

    reader.set_hood_encoder(make_encoder(4));
    reader.set_hood_index(make_unique<DigitalInput>(1));

    reader.set_shooter_encoder(make_encoder(2));

    reader.set_autonomous_mode(0, make_unique<DigitalInput>(9));
    reader.set_autonomous_mode(1, make_unique<DigitalInput>(8));

    reader.set_pwm_trigger(true);

    ::std::thread reader_thread(::std::ref(reader));

    auto imu_trigger = make_unique<DigitalInput>(3);
    ::frc971::wpilib::ADIS16448 imu(SPI::Port::kOnboardCS1, imu_trigger.get());
    imu.SetDummySPI(SPI::Port::kOnboardCS2);
    auto imu_reset = make_unique<DigitalOutput>(6);
    imu.set_reset(imu_reset.get());
    ::std::thread imu_thread(::std::ref(imu));

    ::frc971::wpilib::DrivetrainWriter drivetrain_writer;
    drivetrain_writer.set_left_controller0(
        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(7)), true);
    drivetrain_writer.set_right_controller0(
        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(3)), false);
    ::std::thread drivetrain_writer_thread(::std::ref(drivetrain_writer));

    SuperstructureWriter superstructure_writer;
    superstructure_writer.set_intake_victor(
        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(1)));
    superstructure_writer.set_intake_rollers_victor(
        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(4)));
    superstructure_writer.set_indexer_victor(
        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(6)));
    superstructure_writer.set_indexer_roller_victor(
        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(5)));
    superstructure_writer.set_turret_victor(
        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(9)));
    superstructure_writer.set_hood_victor(
        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(2)));
    superstructure_writer.set_shooter_victor(
        ::std::unique_ptr<::frc::VictorSP>(new ::frc::VictorSP(8)));

    superstructure_writer.set_gear_servo(
        ::std::unique_ptr<Servo>(new Servo(0)));

    superstructure_writer.set_red_light(
        ::std::unique_ptr<DigitalOutput>(new DigitalOutput(5)));
    superstructure_writer.set_green_light(
        ::std::unique_ptr<DigitalOutput>(new DigitalOutput(24)));
    superstructure_writer.set_blue_light(
        ::std::unique_ptr<DigitalOutput>(new DigitalOutput(25)));

    ::std::thread superstructure_writer_thread(
        ::std::ref(superstructure_writer));

    SolenoidWriter solenoid_writer;
    solenoid_writer.set_lights(solenoid_writer.pcm()->MakeSolenoid(0));
    solenoid_writer.set_rgb_light(solenoid_writer.pcm()->MakeSolenoid(1));

    ::std::thread solenoid_thread(::std::ref(solenoid_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();
    imu.Quit();
    imu_thread.join();

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

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

}  // namespace
}  // namespace wpilib
}  // namespace y2017

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