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package org.firstinspires.ftc.robotcontroller.external.samples;

import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;

import java.util.List;

/*
 * This OpMode illustrates the basics of AprilTag recognition and pose estimation, using
 * the easy way.
 *
 * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
 * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
 */
@TeleOp(name = "Concept: AprilTag Easy", group = "Concept")
@Disabled
public class ConceptAprilTagEasy extends LinearOpMode {

    private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera

    /**
     * The variable to store our instance of the AprilTag processor.
     */
    private AprilTagProcessor aprilTag;

    /**
     * The variable to store our instance of the vision portal.
     */
    private VisionPortal visionPortal;

    @Override
    public void runOpMode() {

        initAprilTag();

        // Wait for the DS start button to be touched.
        telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
        telemetry.addData(">", "Touch Play to start OpMode");
        telemetry.update();
        waitForStart();

        if (opModeIsActive()) {
            while (opModeIsActive()) {

                telemetryAprilTag();

                // Push telemetry to the Driver Station.
                telemetry.update();

                // Save CPU resources; can resume streaming when needed.
                if (gamepad1.dpad_down) {
                    visionPortal.stopStreaming();
                } else if (gamepad1.dpad_up) {
                    visionPortal.resumeStreaming();
                }

                // Share the CPU.
                sleep(20);
            }
        }

        // Save more CPU resources when camera is no longer needed.
        visionPortal.close();

    }   // end method runOpMode()

    /**
     * Initialize the AprilTag processor.
     */
    private void initAprilTag() {

        // Create the AprilTag processor the easy way.
        aprilTag = AprilTagProcessor.easyCreateWithDefaults();

        // Create the vision portal the easy way.
        if (USE_WEBCAM) {
            visionPortal = VisionPortal.easyCreateWithDefaults(
                hardwareMap.get(WebcamName.class, "Webcam 1"), aprilTag);
        } else {
            visionPortal = VisionPortal.easyCreateWithDefaults(
                BuiltinCameraDirection.BACK, aprilTag);
        }

    }   // end method initAprilTag()

    /**
     * Add telemetry about AprilTag detections.
     */
    private void telemetryAprilTag() {

        List<AprilTagDetection> currentDetections = aprilTag.getDetections();
        telemetry.addData("# AprilTags Detected", currentDetections.size());

        // Step through the list of detections and display info for each one.
        for (AprilTagDetection detection : currentDetections) {
            if (detection.metadata != null) {
                telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
                telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
                telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
                telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
            } else {
                telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
                telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", detection.center.x, detection.center.y));
            }
        }   // end for() loop

        // Add "key" information to telemetry
        telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist.");
        telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)");
        telemetry.addLine("RBE = Range, Bearing & Elevation");

    }   // end method telemetryAprilTag()

}   // end class