/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc4388.robot;

import java.util.ArrayList;
import java.util.List;

import edu.wpi.first.math.controller.HolonomicDriveController;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import edu.wpi.first.math.trajectory.Trajectory.State;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.SwerveControllerCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.Constants.SwerveDriveConstants.AutoConstants;
import frc4388.robot.Constants.SwerveDriveConstants.PIDConstants;
import frc4388.robot.commands.AutoBalance;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.utility.controller.DeadbandedXboxController;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;

/**
 * This class is where the bulk of the robot should be declared. Since
 * Command-based is a "declarative" paradigm, very little robot logic should
 * actually be handled in the {@link Robot} periodic methods (other than the
 * scheduler calls). Instead, the structure of the robot (including subsystems,
 * commands, and button mappings) should be declared here.
 */
public class RobotContainer {
    /* RobotMap */
    public final RobotMap m_robotMap = new RobotMap();

    /* Subsystems */
    public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront, m_robotMap.rightFront, m_robotMap.leftBack, m_robotMap.rightBack, m_robotMap.gyro);
    // private final LED m_robotLED = new LED(m_robotMap.LEDController);
    

    /* Controllers */
    // private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
    // private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);

    private final DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
    private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);

    /**
     * The container for the robot. Contains subsystems, OI devices, and commands.
     */
    public RobotContainer() {
        configureButtonBindings();

        /* Default Commands */

        m_robotSwerveDrive.setDefaultCommand(new RunCommand(() ->
            m_robotSwerveDrive.driveWithInput(getDeadbandedDriverController().getLeft(), getDeadbandedDriverController().getRight(), true)
          , m_robotSwerveDrive).withName("SwerveDrive DefaultCommand"));
        
        // m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));

    
    }


    /**
     * Use this method to define your button->command mappings. Buttons can be
     * created by instantiating a {@link GenericHID} or one of its subclasses
     * ({@link edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then
     * passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
     */
    private void configureButtonBindings() {
        /* Driver Buttons */
        
        new JoystickButton(getDeadbandedDriverController(), XboxController.A_BUTTON)
            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
        
        new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
            .onTrue(new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(), m_robotSwerveDrive));
        //     // .onFalse()

        new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
            .onTrue(new AutoBalance(m_robotMap.gyro, m_robotSwerveDrive));
            
        // /* Operator Buttons */
        // // interrupt button
        // new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
        //     .onTrue(new InstantCommand());
    }

    /**
     * Use this to pass the autonomous command to the main {@link Robot} class.
     *
     * @return the command to run in autonomous
     */
    public Command getAutonomousCommand() {

        //Create Trajectory Settings
        TrajectoryConfig trajectoryConfig = new TrajectoryConfig(SwerveDriveConstants.AutoConstants.PATH_MAX_VEL, 
            SwerveDriveConstants.AutoConstants.PATH_MAX_ACC).setKinematics(m_robotSwerveDrive.getKinematics());

        // generate trajectory
        // Trajectory trajectory = TrajectoryGenerator.generateTrajectory(
            
        //     new Pose2d(0, 0, new Rotation2d(0)),
        //     List.of(
        //             new Translation2d(0, 1)),
        //     new Pose2d(0, 2, Rotation2d.fromDegrees(0)),
            
        //     trajectoryConfig);

        ArrayList<Pose2d> simplePath = new ArrayList<Pose2d>();
        simplePath.add(new Pose2d(0, 0, new Rotation2d(0)));
        simplePath.add(new Pose2d(0, 1, new Rotation2d(0)));

        Trajectory trajectory = TrajectoryGenerator.generateTrajectory(simplePath, trajectoryConfig);

        //Defining PID Controller for tracking trajectory
        PIDController xController = new PIDController(SwerveDriveConstants.AutoConstants.X_CONTROLLER.kP, 0, 0);
        PIDController yController = new PIDController(SwerveDriveConstants.AutoConstants.Y_CONTROLLER.kP, 0, 0);
        ProfiledPIDController thetaController = new ProfiledPIDController(AutoConstants.THETA_CONTROLLER.kP,
        AutoConstants.THETA_CONTROLLER.kI, AutoConstants.THETA_CONTROLLER.kD, AutoConstants.THETA_CONSTRAINTS);
        thetaController.enableContinuousInput(-Math.PI, Math.PI);

        //Command to follow trajectory
        SwerveControllerCommand swerveControllerCommand = new SwerveControllerCommand(
            trajectory,
            m_robotSwerveDrive::getOdometry,
            m_robotSwerveDrive.getKinematics(),
            xController,
            yController,
            thetaController,
            m_robotSwerveDrive::setModuleStates,
            m_robotSwerveDrive);

        //Init and wrap-up, return everything
        return new SequentialCommandGroup(
                new InstantCommand(() -> m_robotSwerveDrive.resetOdometry(), m_robotSwerveDrive),
                // new InstantCommand(() -> m_robotSwerveDrive.setOdometry(trajectory.getInitialPose())),
                swerveControllerCommand,
                new InstantCommand(() -> m_robotSwerveDrive.stopModules()));
    }

    /**
     * Add your docs here.
     */
    // public IHandController getDriverController() {
    //     return m_driverXbox;
    // }

    public DeadbandedXboxController getDeadbandedDriverController() {
        return this.m_driverXbox;
    }

    public DeadbandedXboxController getDeadbandedOperatorController() {
        return this.m_operatorXbox;
    }

    /**
     * Add your docs here.
     */
    // public IHandController getOperatorController() {
    //     return m_operatorXbox;
    // }

    /**
     * Add your docs here.
     */
    // public Joystick getOperatorJoystick() {
    //     return m_operatorXbox.getJoyStick();
    // }

    /**
     * Add your docs here.
     */
    // public Joystick getDriverJoystick() {
    //     return m_driverXbox.getJoyStick();
    // }
}