#include "WPILib.h"
#include "Shooter.h"
#include <ctime>
#include <iostream>
#include <iomanip>
#include <fstream>
#include <string>
#include <sys/time.h>
#include <vector>
#include <cmath>
#include <math.h>

#ifndef BUTTON_LAYOUT
#define BUTTON_LAYOUT

#define TRIGGER 	1  	// Trigger button number
#define THUMB 		2	// Thumb button number
#define RAMP_RAISE  5   // Button 3 for Raising Ramp
#define RAMP_LOWER  3	// Button 4 to lower ramp.
#define UNJAM		11

#define DEADZONE_RADIUS 0.05 	// Deadzone Radius prevents tiny twitches in the joystick's value from
								// affecting the robot.  Use this for cleaning up drive train and shooter.
								// Also used for detecting changes in an axis' value.

#define TURN_FACTOR 1.5			// Left(x,y)  = y*(1 + TF*x)  :  x < 0
								// 			  = y 			  :  x >= 0
								// Right(x,y) = y			  :  x < 0
								// 			  = y*(1 - TF*x)  :  x >= 0

#endif  // BUTTON_LAYOUT

#ifndef LOG
#define LOG(X) logA << X; logB << X; logC << X //for writing data to the csv file
#endif

class Robot: public IterativeRobot
{
	TalonSRX left_drive, right_drive;
	CANTalon shooter1, shooter2,
			ramp,
			arms;
	RobotDrive drive;
	Shooter shooter;
	Joystick driver_stick, operator_stick;
	//DriverStation DriverStation::GetInstance();
	//float power;
public:
	Robot():
		left_drive(0),			// Left DriveTrain Talons plug into PWM channel 1 with a Y-splitter
		right_drive(1),			// Right DriveTrain Talons plug  	// left wheel 2
		shooter1(11),  			// shooter drive 1
		shooter2(10),   		// shooter drive 2
		ramp(12),
		arms(13),
		drive(&left_drive, &right_drive),
		shooter(				// initialize Shooter object.
				&shooter1, &shooter2, &ramp),
		driver_stick(0), 				// right stick (operator)
		operator_stick(1)			// left stick (driver)
	{

	}

private:
	// instance variables
	bool pickupRunning;  // don't want to spam the Talon with set messages.  Toggle the pickup when a button is pressed or released.
	bool inverting;
	bool ramping;
	bool shooting;
	bool unjamming;
	bool arming;
	bool arcade;
	float shooter_power;

	LiveWindow *lw = LiveWindow::GetInstance();
	SendableChooser *chooser;
	const std::string autoNameDefault = "Default";
	const std::string autoNameCustom = "My Auto";
	std::string autoSelected;

	/*void LogData()
	{
		static PowerDistributionPanel pdp;
		static DriverStation DriverStation::GetInstance() = DriverStation::GetInstance();
		static std::vector<CANTalon*> motors;

		static std::ofstream logA, logB, logC;
		timeval tm;

		SmartDashboard::PutBoolean("log A", logA.is_open());
		SmartDashboard::PutBoolean("log B", logB.is_open());
		SmartDashboard::PutBoolean("log C", logC.is_open());
	}*/

	void RobotInit()
	{
		chooser = new SendableChooser();
		chooser->AddDefault(autoNameDefault, (void*)&autoNameDefault);
		chooser->AddObject(autoNameCustom, (void*)&autoNameCustom);
		SmartDashboard::PutData("Auto Modes", chooser);
		shooter1.Enable();
		shooter2.Enable();
		left_drive.SetInverted(true);
		right_drive.SetInverted(true);
		//ramp.SetInverted(true);
		inverting = false;
		pickupRunning = false;
		ramping = false;
		shooting = false;
		unjamming = false;
		arming = false;
		shooter_power = 0;
		arcade = false;

	}


	/**
	 * This autonomous (along with the chooser code above) shows how to select between different autonomous modes
	 * using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW
	 * Dashboard, remove all of the chooser code and uncomment the GetString line to get the auto name from the text box
	 * below the Gyro
	 *
	 * You can add additional auto modes by adding additional comparisons to the if-else structure below with additional strings.
	 * If using the SendableChooser make sure to add them to the chooser code above as well.
	 */
	void AutonomousInit()
	{
		autoSelected = *((std::string*)chooser->GetSelected());
		//std::string autoSelected = SmartDashboard::GetString("Auto Selector", autoNameDefault);
		std::cout << "Auto selected: " << autoSelected << std::endl;

		if(autoSelected == autoNameCustom){
			//Custom Auto goes here
		} else {
			//Default Auto goes here
		}
	}

	void AutonomousPeriodic()
	{
		LogCSVData();
		if(autoSelected == autoNameCustom){
			//Custom Auto goes here
		} else {
			//Default Auto goes here
		}
	}

	void TeleopInit()
	{

	}

	void TeleopPeriodic()
	{
		LogCSVData();
		std::cout << "arm encoder position: " << arms.GetEncPosition() << std::endl;
		std::cout << "arm encoder velocity: " << arms.GetEncVel() << std::endl;
		drive.ArcadeDrive(-driver_stick.GetY(), -driver_stick.GetX()*0.75);
		if(driver_stick.GetRawButton(7))
		{
			arcade = true;
		}
		if(driver_stick.GetRawButton(8))
		{
			arcade = false;
		}
		if (arcade)
		{
			drive.ArcadeDrive(driver_stick);
		}
		else
		{
			if (driver_stick.GetRawButton(THUMB))
			{
				float left = driver_stick.GetTwist();
				float right = -driver_stick.GetTwist();
				drive.TankDrive(left, right);
			}
			else
			{
				UpdateDrive();
			}
		}
		//bool rampDoing = false;
		//  This is shit code for testing.  Replace it with real code.
		if(!ramping && operator_stick.GetRawButton(RAMP_RAISE))
		{
			std::cout << "Raising Ramp.";
			//ramp.Set(1);
			shooter.RaiseRamp();
			ramping =true;
		}
		else if(!ramping && operator_stick.GetRawButton(RAMP_LOWER))
		{
			std::cout << "Lowering Ramp.";
			//ramp.Set(-1);
			shooter.LowerRamp();
			ramping = true;
		}
		/*else if(!ramping && operator_stick.GetRawButton(TRIGGER))
		{
			shooter.BoostRamp();
			ramping = true;
		}*/
		else if(ramping && !operator_stick.GetRawButton(RAMP_RAISE)
				&& !operator_stick.GetRawButton(RAMP_LOWER))
		{
			shooter.StopRamp();
			ramping = false;
		}


		if(!unjamming && operator_stick.GetRawButton(UNJAM))
		{
			unjamming = true;
			shooter.Unjam();
		}
		else if(!unjamming && operator_stick.GetRawButton(TRIGGER))
		{
			shooter.ShootLow();
			unjamming = true;
		}
		else if(unjamming && !operator_stick.GetRawButton(UNJAM) && !operator_stick.GetRawButton(TRIGGER))
		{
			shooter.PickUp(false);
			unjamming = false;
		}
		/*
		 * 	Run the Shooter only while the THUMB button is held down on the operator stick.
		 *	the 'pickupRunning' boolean is there to prevent the shooter from calling PickUp
		 *	every iteration of the TeleopPeriodic method (once every 10ms!)
		 *	The pickup is disabled when the thumb button is released, but the code still
		 *  has 'pickupRunning' as true.
		 */
		if(operator_stick.GetRawButton(THUMB) && !pickupRunning)
		{
			shooter.PickUp();
			pickupRunning = true;
		}
		else if(!operator_stick.GetRawButton(THUMB) && pickupRunning)
		{
			shooter.PickUp(false);
			pickupRunning = false;
		}
		/*
		 *	The 'inverting' variable is used to make sure that the drive train isn't getting
		 *	inverted every iteration of the TeleopPeriodic method while the button is held down.
		 *	This is important because the TeleopPeriodic method executes something like once every 10ms.
		 *	Thus, this if-else if pair make the button a toggle.
		 */
		if(driver_stick.GetRawButton(TRIGGER) && !inverting)
		{
			std::cout << "Inverting Drive Train.";
			left_drive.SetInverted(!left_drive.GetInverted());
			right_drive.SetInverted(!right_drive.GetInverted());
			inverting = true;
		}
		else if(!driver_stick.GetRawButton(TRIGGER))
		{
			inverting = false;
		}
		
		
		/*
		 * Unlike the previous actions, this method does need to be called every iteration of
		 *	TeleopPeriodic.  This is because the logic running this operation needs to be checked
		 *	Every time the method is called.  This cannot be a loop in the Shoot method because
		 *  that would lock the robot every time the trigger is hit.
		 */
		if(operator_stick.GetRawButton(TRIGGER) || (shooter.GetState() != 0))
		{
			shooting = true;
			shooter.Shoot();
		}
		else if(shooting  && !operator_stick.GetRawButton(TRIGGER))
		{
			shooting = false;
			shooter.StopShooter();
		}
		
		if(!arming && driver_stick.GetRawButton(RAMP_RAISE))
		{
			arming = true;
			arms.Set(1);
		}
		else if(!arming && driver_stick.GetRawButton(RAMP_LOWER))
		{
			arming = true;
			arms.Set(-1);
		}
		else if(arming && !driver_stick.GetRawButton(RAMP_RAISE) && !driver_stick.GetRawButton(RAMP_LOWER))
		{
			arming = false;
			arms.Set(0);
		}

        // This code will become obsolete after the Shooter logic is complete.
		float opThrottle = SaneThrottle(operator_stick.GetThrottle());
		
		if(!pickupRunning && ( opThrottle > shooter_power + DEADZONE_RADIUS
				||	opThrottle < shooter_power - DEADZONE_RADIUS))
		{
			shooter.SetPower(opThrottle);
		}
	}

	/**
	 *	Takes the gross raw throttle input from joystick and returns a 
	 *	value between 0.0-1.0 (no negative values)
	 */
	float SaneThrottle(float rawThrottle)
	{
		return ((1.0 - rawThrottle) / 2.0);
	}

	void TestPeriodic()
	{
		lw->Run();
		LogCSVData();
	}
	void LogCSVData()
	{
		static PowerDistributionPanel pdp;	// preparing to read from the pdp
		static std::vector<CANTalon*> motors;

		static std::ofstream logA, logB, logC;
		timeval tm;

		SmartDashboard::PutBoolean("log A", logA.is_open());
		SmartDashboard::PutBoolean("log B", logB.is_open());
		SmartDashboard::PutBoolean("log C", logC.is_open());

		if (!logA.is_open() && !logB.is_open() && !logC.is_open())
		{
			std::fstream logNumFile;
			int logNum;
			logNumFile.open("/home/lvuser/logNum");
			logNumFile >> logNum;
			logNum++;
			logNumFile.seekp(0);
			logNumFile << logNum;
			// writing to /home/lvuser/logs/[unixtime].log
			logA.open("/media/sda1/logs/log" + std::to_string(logNum) + ".csv");
			std::cerr << (logA.is_open() ? "Opened" : "Failed to open") << "log A." << std::endl;
			logB.open("/media/sdb1/logs/log" + std::to_string(logNum) + ".csv");
			std::cerr << (logB.is_open() ? "Opened" : "Failed to open") << "log B." << std::endl;
			logC.open("/home/lvuser/logs/log" + std::to_string(logNum) + ".csv");
			std::cerr << (logC.is_open() ? "Opened" : "Failed to open") << "log C." << std::endl;

			LOG("Time\tpdpInput voltage\tpdpTemperature\tpdpTotal Current\t");
			for (int ii = 0; ii < 16; ii++)
			{
				LOG("pdpChannel " << ii << " current\t");
			}

			LOG("tlaunch_spinny Bus Voltage\ttlaunch_spinny Output Current\ttlaunch_spinny Output Voltage\ttlaunch_spinny Temperature");
			motors.push_back(&ramp);
			LOG("\tShooter1 Bus Voltage\tShooter1 Output Current\tShooter1 Output Voltage\tShooter1 Temperature");
			motors.push_back(&shooter1);
			LOG("\tShooter2 Bus Voltage\tShooter2 Output Current\tShooter2 Output Voltage\tShooter2 Temperature");
			motors.push_back(&shooter2);

			LOG("\tJoystick X\tJoystick Y\tJoystick Twist");
			LOG("\tAlliance\tLocation\tMatch Time\tFMS Attached\tBrowned Out");
			LOG("\tTestStage");
			LOG(std::endl);
		}
		gettimeofday(&tm, NULL);
		LOG(time(0) << '.' << std::setfill('0') << std::setw(3) << tm.tv_usec/1000);
		// Some general information
		LOG("\t" << pdp.GetVoltage());
		LOG("\t" << pdp.GetTemperature());
		LOG("\t" << pdp.GetTotalCurrent());
		// current on each channel
		for (int ii = 0; ii < 16; ii++)
		{
			LOG("\t" << pdp.GetCurrent(ii));
		}

		//Talon Data
		for(int ii = 0; ii < motors.size(); ii++)
		{
			LOG("\t" << motors[ii]->GetBusVoltage());
			LOG("\t" << motors[ii]->GetOutputVoltage());
			LOG("\t" << motors[ii]->GetOutputCurrent());
			LOG("\t" << motors[ii]->GetTemperature());
		}
		//control data
		LOG("\t" << driver_stick.GetX());
		LOG("\t" << driver_stick.GetY());
		LOG("\t" << driver_stick.GetTwist());

		//DriverStation Data
		LOG("\t" << DriverStation::GetInstance().GetAlliance());
		LOG("\t" << DriverStation::GetInstance().GetLocation());
		LOG("\t" << DriverStation::GetInstance().GetMatchTime());
		LOG("\t" << DriverStation::GetInstance().IsFMSAttached());
		LOG("\t" << DriverStation::GetInstance().IsSysBrownedOut());
		LOG(std::endl);
	}

	void SimpleDrive()
	{
		float x = -driver_stick.GetX();
		float y = -driver_stick.GetY();
		float left = 0;
		float right = 0;

		if (x > 0)
		{
			right = y;
			left = (1- x*TURN_FACTOR)*y ;
		}
		else
		{
			left = y;
			right = (1+x*TURN_FACTOR)*y;
		}

		drive.TankDrive(left, right);
	}

	void UpdateDrive()
	{
		float x = -driver_stick.GetX();
		float y = -driver_stick.GetY();
		if (x > 0)
		{
			float right = y * SaneThrottle(driver_stick.GetThrottle());
			float left = (1-x)*y * SaneThrottle(driver_stick.GetThrottle());
			drive.TankDrive(left, right);
		}
		else
		{
			float left = y * SaneThrottle(driver_stick.GetThrottle());
			float right = (1+x)*y * SaneThrottle(driver_stick.GetThrottle());
			drive.TankDrive(left, right);
		}
	}
};

START_ROBOT_CLASS(Robot)