package frc.robot.subsystems;

import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkLowLevel.MotorType;

import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.math.controller.ProfiledPIDController;
import edu.wpi.first.math.controller.RamseteController;
import edu.wpi.first.math.controller.SimpleMotorFeedforward;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
import edu.wpi.first.math.kinematics.DifferentialDriveOdometry;
import edu.wpi.first.math.kinematics.DifferentialDriveWheelSpeeds;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.units.Distance;
import edu.wpi.first.units.Measure;
import edu.wpi.first.units.Velocity;
import edu.wpi.first.units.Voltage;
import edu.wpi.first.units.MutableMeasure;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;

import static edu.wpi.first.units.MutableMeasure.mutable;
import static edu.wpi.first.units.Units.Volts;

import org.littletonrobotics.junction.Logger;

import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.MetersPerSecond;

import frc.robot.Constants;
import frc.robot.util.IMUGyro;

public class Drivetrain extends SubsystemBase 
{
    private IMUGyro m_gyro = Constants.gyro;

    private CANSparkMax m_motorL_leader = new CANSparkMax(Constants.motorL_leader_ID, MotorType.kBrushed);
    private CANSparkMax m_motorL_follower = new CANSparkMax(Constants.motorL_follower_ID, MotorType.kBrushed);
    private CANSparkMax m_motorR_leader = new CANSparkMax(Constants.motorR_leader_ID, MotorType.kBrushed);
    private CANSparkMax m_motorR_follower = new CANSparkMax(Constants.motorR_follower_ID, MotorType.kBrushed);

    private Encoder m_encoderL = new Encoder(Constants.encoderL_PINS[0], Constants.encoderL_PINS[1]);
    private Encoder m_encoderR = new Encoder(Constants.encoderR_PINS[0], Constants.encoderR_PINS[1]);

    private SimpleMotorFeedforward m_feedforward = new SimpleMotorFeedforward(Constants.MotorkS, Constants.MotorkV);

    private final double kP = 0.363;

    private ProfiledPIDController m_pidL = new ProfiledPIDController(kP, 0, 0, Constants.motor_constraints);
    private ProfiledPIDController m_pidR = new ProfiledPIDController(kP, 0, 0, Constants.motor_constraints);
    
    private DifferentialDriveKinematics m_kinematics = 
        new DifferentialDriveKinematics(Constants.TrackWidth);

    private DifferentialDriveOdometry m_odometry;

    // For system identification
    private final MutableMeasure<Voltage> m_voltage = mutable(Volts.of(0));
    private final MutableMeasure<Distance> m_distance = mutable(Meters.of(0));
    private final MutableMeasure<Velocity<Distance>> m_velocity = mutable(MetersPerSecond.of(0));

    private final SysIdRoutine m_sysIdRoutine = new SysIdRoutine(
        new SysIdRoutine.Config(), 
        new SysIdRoutine.Mechanism(
            (Measure<Voltage> volts) -> {
                m_motorL_leader.setVoltage(volts.in(Volts));
                m_motorR_leader.setVoltage(volts.in(Volts));
            },
            log -> {
                log.motor("drive-left")
                    .voltage(
                        m_voltage.mut_replace(
                            m_motorL_leader.getAppliedOutput() * m_motorL_leader.getBusVoltage(), Volts)
                    )
                    .linearPosition(m_distance.mut_replace(m_encoderL.getDistance(), Meters))
                    .linearVelocity(m_velocity.mut_replace(m_encoderL.getRate(), MetersPerSecond));
                log.motor("driver-right")
                    .voltage(
                        m_voltage.mut_replace(
                            m_motorR_leader.getAppliedOutput() * m_motorR_follower.getBusVoltage(), Volts)
                    )
                    .linearPosition(m_distance.mut_replace(m_encoderR.getDistance(), Meters))
                    .linearVelocity(m_velocity.mut_replace(m_encoderR.getRate(), MetersPerSecond));
                
            }, this));

    public final TrajectoryConfig trajectoyConfig = 
        new TrajectoryConfig(
            Constants.AutonomousMaxSpeed,
            Constants.AutonomousMaxAcceleration)
        .setKinematics(m_kinematics);


    public Drivetrain()
    {
        m_gyro.reset();
        m_gyro.calibrateGyro(10000);

        m_motorR_follower.follow(m_motorR_leader);
        m_motorL_follower.follow(m_motorL_leader);
        
        m_motorL_leader.setInverted(true);
        m_encoderL.setReverseDirection(true);

        m_encoderL.setDistancePerPulse(Math.PI * Constants.WheelDiameter / 10.71 / Constants.EncoderResolution);
        m_encoderR.setDistancePerPulse(Math.PI * Constants.WheelDiameter / 10.71 / Constants.EncoderResolution);
        
        m_encoderL.reset();
        m_encoderR.reset();

        m_odometry = new DifferentialDriveOdometry(
            m_gyro.toRotation2d(),
            m_encoderL.getDistance(),
            m_encoderR.getDistance());
    }

    // speed - linear velocity in m/s
    // rot   - angular velocity in rad/s
    public void arcade(double speed, double rot) 
    {
        speed(m_kinematics.toWheelSpeeds(new ChassisSpeeds(speed, 0.0, rot)));
    }

    // in m/s
    public void tank(double left, double right) 
    {
        speed(new DifferentialDriveWheelSpeeds(left, right));
    }

    public void speed(DifferentialDriveWheelSpeeds speeds) 
    {
        Logger.recordOutput(getName() + "/leftSpeed", speeds.leftMetersPerSecond);
        Logger.recordOutput(getName() + "/rightSpeed", speeds.rightMetersPerSecond);

        voltage(
            m_pidL.calculate(m_encoderL.getRate(), speeds.leftMetersPerSecond)
              + m_feedforward.calculate(speeds.leftMetersPerSecond),
            m_pidR.calculate(m_encoderR.getRate(), speeds.rightMetersPerSecond)
              + m_feedforward.calculate(speeds.rightMetersPerSecond)
        );
    }

    public void voltage(double leftVolts, double rightVolts)
    {
        Logger.recordOutput(getName() + "/leftVolts", leftVolts);
        Logger.recordOutput(getName() + "/rightVolts", rightVolts);

        m_motorL_leader.setVoltage(leftVolts);
        m_motorR_leader.setVoltage(rightVolts);
    }

    public Pose2d pose2d() 
    {
        return m_odometry.getPoseMeters();
    }

    public void reset() 
    {
        m_gyro.reset();
        m_encoderL.reset();
        m_encoderR.reset();

        m_odometry = new DifferentialDriveOdometry(
            m_gyro.toRotation2d(),
            m_encoderL.getDistance(),
            m_encoderR.getDistance());
    }    

    @Override
    public void periodic() 
    {
        m_gyro.update();

        m_odometry.update(
            m_gyro.toRotation2d(),
            m_encoderL.getDistance(),
            m_encoderR.getDistance());

        Logger.recordOutput(getName() + "/gyro", m_gyro.toRotation2d().getDegrees());
        Logger.recordOutput(getName() + "/pose", pose2d());
 
        Logger.recordOutput(getName() + "/encoderRateL", m_encoderL.getRate());
        Logger.recordOutput(getName() + "/encoderRateR", m_encoderR.getRate());
        Logger.recordOutput(getName() + "/encoderDL", m_encoderL.getDistance());
        Logger.recordOutput(getName() + "/encoderDR", m_encoderR.getDistance());
    }

    public Command followTrajectory(Trajectory trajectory)
    {
        RamseteCommand ramsete = new RamseteCommand(
            trajectory, this::pose2d, 
            new RamseteController(2.0, 0.7), 
            m_feedforward, m_kinematics, 
            () -> new DifferentialDriveWheelSpeeds(m_encoderL.getRate(), m_encoderR.getRate()), 
            new PIDController(kP, 0, 0),
            new PIDController(kP, 0, 0), 
            this::voltage, this);

        return Commands.runOnce(() -> this.reset())
                       .andThen(ramsete)
                       .andThen(Commands.runOnce(() -> voltage(0, 0)));
    }

    public Command sysIdQausistatic(SysIdRoutine.Direction direction)
    {
        return m_sysIdRoutine.quasistatic(direction);
    }

    public Command sysIdDynamic(SysIdRoutine.Direction direction)
    {
        return m_sysIdRoutine.dynamic(direction);
    }
}