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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 java.util.List;
import org.firstinspires.ftc.robotcore.external.ClassFactory;
import org.firstinspires.ftc.robotcore.external.hardware.camera.CameraName;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.VisionPortal.CameraState;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;

/**
 * This 2023-2024 OpMode illustrates the basics of AprilTag recognition and pose estimation, using
 * two webcams.
 *
 * 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 Switchable Cameras", group = "Concept")
@Disabled
public class ConceptAprilTagSwitchableCameras extends LinearOpMode {

    /**
     * Variables used for switching cameras.
     */
    private WebcamName webcam1, webcam2;
    private boolean oldLeftBumper;
    private boolean oldRightBumper;

    /**
     * {@link #aprilTag} is the variable to store our instance of the AprilTag processor.
     */
    private AprilTagProcessor aprilTag;

    /**
     * {@link #visionPortal} is 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()) {

                telemetryCameraSwitching();
                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();
                }

                doCameraSwitching();

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

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

    }   // end runOpMode()

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

        // Create the AprilTag processor by using a builder.
        aprilTag = new AprilTagProcessor.Builder().build();

        webcam1 = hardwareMap.get(WebcamName.class, "Webcam 1");
        webcam2 = hardwareMap.get(WebcamName.class, "Webcam 2");
        CameraName switchableCamera = ClassFactory.getInstance()
            .getCameraManager().nameForSwitchableCamera(webcam1, webcam2);

        // Create the vision portal by using a builder.
        visionPortal = new VisionPortal.Builder()
            .setCamera(switchableCamera)
            .addProcessor(aprilTag)
            .build();

    }   // end method initAprilTag()

    /**
     * Function to add telemetry about camera switching.
     */
    private void telemetryCameraSwitching() {

        if (visionPortal.getActiveCamera().equals(webcam1)) {
            telemetry.addData("activeCamera", "Webcam 1");
            telemetry.addData("Press RightBumper", "to switch to Webcam 2");
        } else {
            telemetry.addData("activeCamera", "Webcam 2");
            telemetry.addData("Press LeftBumper", "to switch to Webcam 1");
        }

    }   // end method telemetryCameraSwitching()

    /**
     * Function to 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()

    /**
     * Function to set the active camera according to input from the gamepad.
     */
    private void doCameraSwitching() {
        if (visionPortal.getCameraState() == CameraState.STREAMING) {
            // If the left bumper is pressed, use Webcam 1.
            // If the right bumper is pressed, use Webcam 2.
            boolean newLeftBumper = gamepad1.left_bumper;
            boolean newRightBumper = gamepad1.right_bumper;
            if (newLeftBumper && !oldLeftBumper) {
                visionPortal.setActiveCamera(webcam1);
            } else if (newRightBumper && !oldRightBumper) {
                visionPortal.setActiveCamera(webcam2);
            }
            oldLeftBumper = newLeftBumper;
            oldRightBumper = newRightBumper;
        }

    }   // end method doCameraSwitching()

}   // end class
