// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc4388.robot.subsystems;

import java.io.File;
import java.io.IOException;
import java.util.Comparator;
import java.util.Map;
import java.util.Optional;
import java.util.function.Function;
import java.util.regex.Pattern;
import java.util.stream.IntStream;

import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;

import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.utility.CSV;
import frc4388.utility.Gains;

public class BoomBoom extends SubsystemBase {
  public WPI_TalonFX m_shooterFalconLeft;
  public WPI_TalonFX m_shooterFalconRight;
  public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
  public static BoomBoom m_boomBoom;

  double velP;
  double input;

  public boolean m_isDrumReady = false;
  public double m_fireVel;

  public Hood m_hoodSubsystem;
  public Turret m_turretSubsystem;

  // SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values
  // later

  public static class ShooterTableEntry {
    public Double distance, hoodExt, drumVelocity;
  }

  private ShooterTableEntry[] m_shooterTable;

  /*
  * Creates new BoomBoom subsystem, has drum shooter and angle adjuster
  */
  /** Creates a new BoomBoom. */
  public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
    m_shooterFalconLeft = shooterFalconLeft;
    m_shooterFalconRight = shooterFalconRight;

    try {
      CSV<ShooterTableEntry> csv = new CSV<>(ShooterTableEntry::new) {
        private final Pattern parentheses = Pattern.compile("\\([^\\)]*+\\)");

        @Override
        protected String headerSanitizer(final String header) {
          return super.headerSanitizer(parentheses.matcher(header).replaceAll(""));
        }

      };
      m_shooterTable = csv.read(new File(Filesystem.getDeployDirectory(), "Robot Data - Distances.csv").toPath());
      new Thread(() -> System.out.println(CSV.ReflectionTable.create(m_shooterTable, RobotBase.isSimulation()))).start();
    } catch (final IOException e) {
      e.printStackTrace();
      // throw new RuntimeException(e);
    }
  }

  public Double getVelocity(final Double distance) {
    return linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.drumVelocity).doubleValue();
  }

  public Double getHood(final Double distance) {
    return linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.hoodExt).doubleValue();
  }

  private static <E> Number linearInterpolate(final E[] table, final Number lookupValue, final Function<E, Number> lookupGetter, final Function<E, Number> targetGetter) {
    final Map.Entry<Integer, E> closestEntry = lookup(table, lookupValue.doubleValue(), lookupGetter, false).orElse(Map.entry(table.length - 1, table[table.length - 1]));
    final E closestRecord = closestEntry.getValue();
    final int closestRecordIndex = closestEntry.getKey();
    final E neighborRecord = table[lookupValue.doubleValue() <= lookupGetter.apply(closestRecord).doubleValue() ? Math.max(closestRecordIndex == 0 ? 1 : 0, closestRecordIndex - 1) : Math.min(closestRecordIndex + 1, table.length - (closestRecordIndex == table.length - 1 ? 2 : 1))];
    return lerp2(lookupValue, lookupGetter.apply(closestRecord), targetGetter.apply(closestRecord), lookupGetter.apply(neighborRecord), targetGetter.apply(neighborRecord));
  }

  private static <E> Optional<Map.Entry<Integer, E>> lookup(final E[] table, final Number value, final Function<E, Number> valueGetter, final boolean exactMatch) {
    final Optional<Map.Entry<Integer, E>> match = IntStream.range(0, table.length).mapToObj(i -> Map.entry(i, table[i])).min(Comparator.comparingDouble(e -> Math.abs(valueGetter.apply(e.getValue()).doubleValue() - value.doubleValue())));
    return !exactMatch || match.map(e -> valueGetter.apply(e.getValue()).equals(value)).orElse(false) ? match : Optional.empty();
  }

  private static Number lerp2(final Number x, final Number x0, final Number y0, final Number x1, final Number y1) {
    final Number f = (x.doubleValue() - x0.doubleValue()) / (x1.doubleValue() - x0.doubleValue());
    return (1.0 - f.doubleValue()) * y0.doubleValue() + f.doubleValue() * y1.doubleValue();
  }

  @Override
  public void periodic() {
    // This method will be called once per scheduler run

  }

  public void passRequiredSubsystem(Hood subsystem0, Turret subsystem1) {
    m_hoodSubsystem = subsystem0;
    m_turretSubsystem = subsystem1;
  }

  /**
   * Runs the Drum motor at a given speed
   * @param speed percent output form -1.0 to 1.0
   */
  public void runDrumShooter(double speed) {
    m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed);

  }

  public void setShooterGains() {
    m_shooterFalconLeft.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
    m_shooterFalconLeft.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
    m_shooterFalconLeft.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
    m_shooterFalconLeft.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
    m_shooterFalconLeft.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_drumShooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
  }

  public void runDrumShooterVelocityPID(double targetVel) {
    m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); // Init
    m_shooterFalconRight.follow(m_shooterFalconLeft);
    // New BoomBoom controller stuff
    // Controls a motor with the output of the BangBang controller
    // Controls a motor with the output of the BangBang conroller and a feedforward
    // Shrinks the feedforward slightly to avoid over speeding the shooter

    // m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 *
    // feedforward.calculate(targetVel));
    // m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel));
  }
}