// 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 edu.wpi.first.math.kinematics;

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

import edu.wpi.first.math.MathSharedStore;
import edu.wpi.first.math.MathUsageId;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Twist2d;
import edu.wpi.first.math.kinematics.proto.SwerveDriveKinematicsProto;
import edu.wpi.first.math.kinematics.struct.SwerveDriveKinematicsStruct;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.LinearVelocity;
import edu.wpi.first.util.protobuf.ProtobufSerializable;
import edu.wpi.first.util.struct.Struct;
import edu.wpi.first.util.struct.StructSerializable;
import java.util.Arrays;
import org.ejml.simple.SimpleMatrix;

/**
 * Helper class that converts a chassis velocity (dx, dy, and dtheta components) into individual
 * module states (speed and angle).
 *
 * <p>The inverse kinematics (converting from a desired chassis velocity to individual module
 * states) uses the relative locations of the modules with respect to the center of rotation. The
 * center of rotation for inverse kinematics is also variable. This means that you can set your
 * center of rotation in a corner of the robot to perform special evasion maneuvers.
 *
 * <p>Forward kinematics (converting an array of module states into the overall chassis motion) is
 * performs the exact opposite of what inverse kinematics does. Since this is an overdetermined
 * system (more equations than variables), we use a least-squares approximation.
 *
 * <p>The inverse kinematics: [moduleStates] = [moduleLocations] * [chassisSpeeds] We take the
 * Moore-Penrose pseudoinverse of [moduleLocations] and then multiply by [moduleStates] to get our
 * chassis speeds.
 *
 * <p>Forward kinematics is also used for odometry -- determining the position of the robot on the
 * field using encoders and a gyro.
 */
@SuppressWarnings("overrides")
public class SwerveDriveKinematics
    implements Kinematics<SwerveModuleState[], SwerveModulePosition[]>,
        ProtobufSerializable,
        StructSerializable {
  private final SimpleMatrix m_inverseKinematics;
  private final SimpleMatrix m_forwardKinematics;

  private final int m_numModules;
  private final Translation2d[] m_modules;
  private Rotation2d[] m_moduleHeadings;
  private Translation2d m_prevCoR = Translation2d.kZero;

  /**
   * Constructs a swerve drive kinematics object. This takes in a variable number of module
   * locations as Translation2d objects. The order in which you pass in the module locations is the
   * same order that you will receive the module states when performing inverse kinematics. It is
   * also expected that you pass in the module states in the same order when calling the forward
   * kinematics methods.
   *
   * @param moduleTranslationsMeters The locations of the modules relative to the physical center of
   *     the robot.
   */
  public SwerveDriveKinematics(Translation2d... moduleTranslationsMeters) {
    if (moduleTranslationsMeters.length < 2) {
      throw new IllegalArgumentException("A swerve drive requires at least two modules");
    }
    m_numModules = moduleTranslationsMeters.length;
    m_modules = Arrays.copyOf(moduleTranslationsMeters, m_numModules);
    m_moduleHeadings = new Rotation2d[m_numModules];
    Arrays.fill(m_moduleHeadings, Rotation2d.kZero);
    m_inverseKinematics = new SimpleMatrix(m_numModules * 2, 3);

    for (int i = 0; i < m_numModules; i++) {
      m_inverseKinematics.setRow(i * 2 + 0, 0, /* Start Data */ 1, 0, -m_modules[i].getY());
      m_inverseKinematics.setRow(i * 2 + 1, 0, /* Start Data */ 0, 1, +m_modules[i].getX());
    }
    m_forwardKinematics = m_inverseKinematics.pseudoInverse();

    MathSharedStore.reportUsage(MathUsageId.kKinematics_SwerveDrive, 1);
  }

  /**
   * Reset the internal swerve module headings.
   *
   * @param moduleHeadings The swerve module headings. The order of the module headings should be
   *     same as passed into the constructor of this class.
   */
  public void resetHeadings(Rotation2d... moduleHeadings) {
    if (moduleHeadings.length != m_numModules) {
      throw new IllegalArgumentException(
          "Number of headings is not consistent with number of module locations provided in "
              + "constructor");
    }
    m_moduleHeadings = Arrays.copyOf(moduleHeadings, m_numModules);
  }

  /**
   * Performs inverse kinematics to return the module states from a desired chassis velocity. This
   * method is often used to convert joystick values into module speeds and angles.
   *
   * <p>This function also supports variable centers of rotation. During normal operations, the
   * center of rotation is usually the same as the physical center of the robot; therefore, the
   * argument is defaulted to that use case. However, if you wish to change the center of rotation
   * for evasive maneuvers, vision alignment, or for any other use case, you can do so.
   *
   * <p>In the case that the desired chassis speeds are zero (i.e. the robot will be stationary),
   * the previously calculated module angle will be maintained.
   *
   * @param chassisSpeeds The desired chassis speed.
   * @param centerOfRotationMeters The center of rotation. For example, if you set the center of
   *     rotation at one corner of the robot and provide a chassis speed that only has a dtheta
   *     component, the robot will rotate around that corner.
   * @return An array containing the module states. Use caution because these module states are not
   *     normalized. Sometimes, a user input may cause one of the module speeds to go above the
   *     attainable max velocity. Use the {@link #desaturateWheelSpeeds(SwerveModuleState[], double)
   *     DesaturateWheelSpeeds} function to rectify this issue.
   */
  public SwerveModuleState[] toSwerveModuleStates(
      ChassisSpeeds chassisSpeeds, Translation2d centerOfRotationMeters) {
    var moduleStates = new SwerveModuleState[m_numModules];

    if (chassisSpeeds.vxMetersPerSecond == 0.0
        && chassisSpeeds.vyMetersPerSecond == 0.0
        && chassisSpeeds.omegaRadiansPerSecond == 0.0) {
      for (int i = 0; i < m_numModules; i++) {
        moduleStates[i] = new SwerveModuleState(0.0, m_moduleHeadings[i]);
      }

      return moduleStates;
    }

    if (!centerOfRotationMeters.equals(m_prevCoR)) {
      for (int i = 0; i < m_numModules; i++) {
        m_inverseKinematics.setRow(
            i * 2 + 0,
            0, /* Start Data */
            1,
            0,
            -m_modules[i].getY() + centerOfRotationMeters.getY());
        m_inverseKinematics.setRow(
            i * 2 + 1,
            0, /* Start Data */
            0,
            1,
            +m_modules[i].getX() - centerOfRotationMeters.getX());
      }
      m_prevCoR = centerOfRotationMeters;
    }

    var chassisSpeedsVector = new SimpleMatrix(3, 1);
    chassisSpeedsVector.setColumn(
        0,
        0,
        chassisSpeeds.vxMetersPerSecond,
        chassisSpeeds.vyMetersPerSecond,
        chassisSpeeds.omegaRadiansPerSecond);

    var moduleStatesMatrix = m_inverseKinematics.mult(chassisSpeedsVector);

    for (int i = 0; i < m_numModules; i++) {
      double x = moduleStatesMatrix.get(i * 2, 0);
      double y = moduleStatesMatrix.get(i * 2 + 1, 0);

      double speed = Math.hypot(x, y);
      Rotation2d angle = speed > 1e-6 ? new Rotation2d(x, y) : m_moduleHeadings[i];

      moduleStates[i] = new SwerveModuleState(speed, angle);
      m_moduleHeadings[i] = angle;
    }

    return moduleStates;
  }

  /**
   * Performs inverse kinematics. See {@link #toSwerveModuleStates(ChassisSpeeds, Translation2d)}
   * toSwerveModuleStates for more information.
   *
   * @param chassisSpeeds The desired chassis speed.
   * @return An array containing the module states.
   */
  public SwerveModuleState[] toSwerveModuleStates(ChassisSpeeds chassisSpeeds) {
    return toSwerveModuleStates(chassisSpeeds, Translation2d.kZero);
  }

  @Override
  public SwerveModuleState[] toWheelSpeeds(ChassisSpeeds chassisSpeeds) {
    return toSwerveModuleStates(chassisSpeeds);
  }

  /**
   * Performs forward kinematics to return the resulting chassis state from the given module states.
   * This method is often used for odometry -- determining the robot's position on the field using
   * data from the real-world speed and angle of each module on the robot.
   *
   * @param moduleStates The state of the modules (as a SwerveModuleState type) as measured from
   *     respective encoders and gyros. The order of the swerve module states should be same as
   *     passed into the constructor of this class.
   * @return The resulting chassis speed.
   */
  @Override
  public ChassisSpeeds toChassisSpeeds(SwerveModuleState... moduleStates) {
    if (moduleStates.length != m_numModules) {
      throw new IllegalArgumentException(
          "Number of modules is not consistent with number of module locations provided in "
              + "constructor");
    }
    var moduleStatesMatrix = new SimpleMatrix(m_numModules * 2, 1);

    for (int i = 0; i < m_numModules; i++) {
      var module = moduleStates[i];
      moduleStatesMatrix.set(i * 2, 0, module.speedMetersPerSecond * module.angle.getCos());
      moduleStatesMatrix.set(i * 2 + 1, module.speedMetersPerSecond * module.angle.getSin());
    }

    var chassisSpeedsVector = m_forwardKinematics.mult(moduleStatesMatrix);
    return new ChassisSpeeds(
        chassisSpeedsVector.get(0, 0),
        chassisSpeedsVector.get(1, 0),
        chassisSpeedsVector.get(2, 0));
  }

  /**
   * Performs forward kinematics to return the resulting chassis state from the given module states.
   * This method is often used for odometry -- determining the robot's position on the field using
   * data from the real-world speed and angle of each module on the robot.
   *
   * @param moduleDeltas The latest change in position of the modules (as a SwerveModulePosition
   *     type) as measured from respective encoders and gyros. The order of the swerve module states
   *     should be same as passed into the constructor of this class.
   * @return The resulting Twist2d.
   */
  public Twist2d toTwist2d(SwerveModulePosition... moduleDeltas) {
    if (moduleDeltas.length != m_numModules) {
      throw new IllegalArgumentException(
          "Number of modules is not consistent with number of module locations provided in "
              + "constructor");
    }
    var moduleDeltaMatrix = new SimpleMatrix(m_numModules * 2, 1);

    for (int i = 0; i < m_numModules; i++) {
      var module = moduleDeltas[i];
      moduleDeltaMatrix.set(i * 2, 0, module.distanceMeters * module.angle.getCos());
      moduleDeltaMatrix.set(i * 2 + 1, module.distanceMeters * module.angle.getSin());
    }

    var chassisDeltaVector = m_forwardKinematics.mult(moduleDeltaMatrix);
    return new Twist2d(
        chassisDeltaVector.get(0, 0), chassisDeltaVector.get(1, 0), chassisDeltaVector.get(2, 0));
  }

  @Override
  public Twist2d toTwist2d(SwerveModulePosition[] start, SwerveModulePosition[] end) {
    if (start.length != end.length) {
      throw new IllegalArgumentException("Inconsistent number of modules!");
    }
    var newPositions = new SwerveModulePosition[start.length];
    for (int i = 0; i < start.length; i++) {
      newPositions[i] =
          new SwerveModulePosition(end[i].distanceMeters - start[i].distanceMeters, end[i].angle);
    }
    return toTwist2d(newPositions);
  }

  /**
   * Renormalizes the wheel speeds if any individual speed is above the specified maximum.
   *
   * <p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
   * above the max attainable speed for the driving motor on that module. To fix this issue, one can
   * reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the
   * absolute threshold, while maintaining the ratio of speeds between modules.
   *
   * <p>Scaling down the module speeds rotates the direction of net motion in the opposite direction
   * of rotational velocity, which makes discretizing the chassis speeds inaccurate because the
   * discretization did not account for this translational skew.
   *
   * @param moduleStates Reference to array of module states. The array will be mutated with the
   *     normalized speeds!
   * @param attainableMaxSpeedMetersPerSecond The absolute max speed that a module can reach.
   */
  public static void desaturateWheelSpeeds(
      SwerveModuleState[] moduleStates, double attainableMaxSpeedMetersPerSecond) {
    double realMaxSpeed = 0;
    for (SwerveModuleState moduleState : moduleStates) {
      realMaxSpeed = Math.max(realMaxSpeed, Math.abs(moduleState.speedMetersPerSecond));
    }
    if (realMaxSpeed > attainableMaxSpeedMetersPerSecond) {
      for (SwerveModuleState moduleState : moduleStates) {
        moduleState.speedMetersPerSecond =
            moduleState.speedMetersPerSecond / realMaxSpeed * attainableMaxSpeedMetersPerSecond;
      }
    }
  }

  /**
   * Renormalizes the wheel speeds if any individual speed is above the specified maximum.
   *
   * <p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
   * above the max attainable speed for the driving motor on that module. To fix this issue, one can
   * reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the
   * absolute threshold, while maintaining the ratio of speeds between modules.
   *
   * <p>Scaling down the module speeds rotates the direction of net motion in the opposite direction
   * of rotational velocity, which makes discretizing the chassis speeds inaccurate because the
   * discretization did not account for this translational skew.
   *
   * @param moduleStates Reference to array of module states. The array will be mutated with the
   *     normalized speeds!
   * @param attainableMaxSpeed The absolute max speed that a module can reach.
   */
  public static void desaturateWheelSpeeds(
      SwerveModuleState[] moduleStates, LinearVelocity attainableMaxSpeed) {
    desaturateWheelSpeeds(moduleStates, attainableMaxSpeed.in(MetersPerSecond));
  }

  /**
   * Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well
   * as getting rid of joystick saturation at edges of joystick.
   *
   * <p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
   * above the max attainable speed for the driving motor on that module. To fix this issue, one can
   * reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the
   * absolute threshold, while maintaining the ratio of speeds between modules.
   *
   * <p>Scaling down the module speeds rotates the direction of net motion in the opposite direction
   * of rotational velocity, which makes discretizing the chassis speeds inaccurate because the
   * discretization did not account for this translational skew.
   *
   * @param moduleStates Reference to array of module states. The array will be mutated with the
   *     normalized speeds!
   * @param desiredChassisSpeed The desired speed of the robot
   * @param attainableMaxModuleSpeedMetersPerSecond The absolute max speed that a module can reach
   * @param attainableMaxTranslationalSpeedMetersPerSecond The absolute max speed that your robot
   *     can reach while translating
   * @param attainableMaxRotationalVelocityRadiansPerSecond The absolute max speed the robot can
   *     reach while rotating
   */
  public static void desaturateWheelSpeeds(
      SwerveModuleState[] moduleStates,
      ChassisSpeeds desiredChassisSpeed,
      double attainableMaxModuleSpeedMetersPerSecond,
      double attainableMaxTranslationalSpeedMetersPerSecond,
      double attainableMaxRotationalVelocityRadiansPerSecond) {
    double realMaxSpeed = 0;
    for (SwerveModuleState moduleState : moduleStates) {
      realMaxSpeed = Math.max(realMaxSpeed, Math.abs(moduleState.speedMetersPerSecond));
    }

    if (attainableMaxTranslationalSpeedMetersPerSecond == 0
        || attainableMaxRotationalVelocityRadiansPerSecond == 0
        || realMaxSpeed == 0) {
      return;
    }
    double translationalK =
        Math.hypot(desiredChassisSpeed.vxMetersPerSecond, desiredChassisSpeed.vyMetersPerSecond)
            / attainableMaxTranslationalSpeedMetersPerSecond;
    double rotationalK =
        Math.abs(desiredChassisSpeed.omegaRadiansPerSecond)
            / attainableMaxRotationalVelocityRadiansPerSecond;
    double k = Math.max(translationalK, rotationalK);
    double scale = Math.min(k * attainableMaxModuleSpeedMetersPerSecond / realMaxSpeed, 1);
    for (SwerveModuleState moduleState : moduleStates) {
      moduleState.speedMetersPerSecond *= scale;
    }
  }

  /**
   * Renormalizes the wheel speeds if any individual speed is above the specified maximum, as well
   * as getting rid of joystick saturation at edges of joystick.
   *
   * <p>Sometimes, after inverse kinematics, the requested speed from one or more modules may be
   * above the max attainable speed for the driving motor on that module. To fix this issue, one can
   * reduce all the wheel speeds to make sure that all requested module speeds are at-or-below the
   * absolute threshold, while maintaining the ratio of speeds between modules.
   *
   * <p>Scaling down the module speeds rotates the direction of net motion in the opposite direction
   * of rotational velocity, which makes discretizing the chassis speeds inaccurate because the
   * discretization did not account for this translational skew.
   *
   * @param moduleStates Reference to array of module states. The array will be mutated with the
   *     normalized speeds!
   * @param desiredChassisSpeed The desired speed of the robot
   * @param attainableMaxModuleSpeed The absolute max speed that a module can reach
   * @param attainableMaxTranslationalSpeed The absolute max speed that your robot can reach while
   *     translating
   * @param attainableMaxRotationalVelocity The absolute max speed the robot can reach while
   *     rotating
   */
  public static void desaturateWheelSpeeds(
      SwerveModuleState[] moduleStates,
      ChassisSpeeds desiredChassisSpeed,
      LinearVelocity attainableMaxModuleSpeed,
      LinearVelocity attainableMaxTranslationalSpeed,
      AngularVelocity attainableMaxRotationalVelocity) {
    desaturateWheelSpeeds(
        moduleStates,
        desiredChassisSpeed,
        attainableMaxModuleSpeed.in(MetersPerSecond),
        attainableMaxTranslationalSpeed.in(MetersPerSecond),
        attainableMaxRotationalVelocity.in(RadiansPerSecond));
  }

  @Override
  public SwerveModulePosition[] copy(SwerveModulePosition[] positions) {
    var newPositions = new SwerveModulePosition[positions.length];
    for (int i = 0; i < positions.length; ++i) {
      newPositions[i] = positions[i].copy();
    }
    return newPositions;
  }

  @Override
  public void copyInto(SwerveModulePosition[] positions, SwerveModulePosition[] output) {
    if (positions.length != output.length) {
      throw new IllegalArgumentException("Inconsistent number of modules!");
    }
    for (int i = 0; i < positions.length; ++i) {
      output[i].distanceMeters = positions[i].distanceMeters;
      output[i].angle = positions[i].angle;
    }
  }

  @Override
  public SwerveModulePosition[] interpolate(
      SwerveModulePosition[] startValue, SwerveModulePosition[] endValue, double t) {
    if (endValue.length != startValue.length) {
      throw new IllegalArgumentException("Inconsistent number of modules!");
    }
    var newPositions = new SwerveModulePosition[startValue.length];
    for (int i = 0; i < startValue.length; ++i) {
      newPositions[i] = startValue[i].interpolate(endValue[i], t);
    }
    return newPositions;
  }

  /**
   * Gets the locations of the modules relative to the center of rotation.
   *
   * @return The locations of the modules relative to the center of rotation. This array should not
   *     be modified.
   */
  @SuppressWarnings("PMD.MethodReturnsInternalArray")
  public Translation2d[] getModules() {
    return m_modules;
  }

  /** SwerveDriveKinematics protobuf for serialization. */
  public static final SwerveDriveKinematicsProto proto = new SwerveDriveKinematicsProto();

  /**
   * Creates an implementation of the {@link Struct} interface for swerve drive kinematics objects.
   *
   * @param numModules The number of modules of the kinematics objects this serializer processes.
   * @return The struct implementation.
   */
  public static final SwerveDriveKinematicsStruct getStruct(int numModules) {
    return new SwerveDriveKinematicsStruct(numModules);
  }
}