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

import android.util.Size;
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,
 * including Java Builder structures for specifying Vision parameters.
 *
 * For an introduction to AprilTags, see the FTC-DOCS link below:
 * https://ftc-docs.firstinspires.org/en/latest/apriltag/vision_portal/apriltag_intro/apriltag-intro.html
 *
 * In this sample, any visible tag ID will be detected and displayed, but only tags that are included in the default
 * "TagLibrary" will have their position and orientation information displayed.  This default TagLibrary contains
 * the current Season's AprilTags and a small set of "test Tags" in the high number range.
 *
 * When an AprilTag in the TagLibrary is detected, the SDK provides location and orientation of the tag, relative to the camera.
 * This information is provided in the "ftcPose" member of the returned "detection", and is explained in the ftc-docs page linked below.
 * https://ftc-docs.firstinspires.org/apriltag-detection-values
 *
 * To experiment with using AprilTags to navigate, try out these two driving samples:
 * RobotAutoDriveToAprilTagOmni and RobotAutoDriveToAprilTagTank
 *
 * There are many "default" VisionPortal and AprilTag configuration parameters that may be overridden if desired.
 * These default parameters are shown as comments in the code below.
 *
 * 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", group = "Concept")
@Disabled
public class ConceptAprilTag 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.
        aprilTag = new AprilTagProcessor.Builder()

            // The following default settings are available to un-comment and edit as needed.
            //.setDrawAxes(false)
            //.setDrawCubeProjection(false)
            //.setDrawTagOutline(true)
            //.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11)
            //.setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary())
            //.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)

            // == CAMERA CALIBRATION ==
            // If you do not manually specify calibration parameters, the SDK will attempt
            // to load a predefined calibration for your camera.
            //.setLensIntrinsics(578.272, 578.272, 402.145, 221.506)
            // ... these parameters are fx, fy, cx, cy.

            .build();

        // Adjust Image Decimation to trade-off detection-range for detection-rate.
        // eg: Some typical detection data using a Logitech C920 WebCam
        // Decimation = 1 ..  Detect 2" Tag from 10 feet away at 10 Frames per second
        // Decimation = 2 ..  Detect 2" Tag from 6  feet away at 22 Frames per second
        // Decimation = 3 ..  Detect 2" Tag from 4  feet away at 30 Frames Per Second (default)
        // Decimation = 3 ..  Detect 5" Tag from 10 feet away at 30 Frames Per Second (default)
        // Note: Decimation can be changed on-the-fly to adapt during a match.
        //aprilTag.setDecimation(3);

        // Create the vision portal by using a builder.
        VisionPortal.Builder builder = new VisionPortal.Builder();

        // Set the camera (webcam vs. built-in RC phone camera).
        if (USE_WEBCAM) {
            builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"));
        } else {
            builder.setCamera(BuiltinCameraDirection.BACK);
        }

        // Choose a camera resolution. Not all cameras support all resolutions.
        //builder.setCameraResolution(new Size(640, 480));

        // Enable the RC preview (LiveView).  Set "false" to omit camera monitoring.
        //builder.enableLiveView(true);

        // Set the stream format; MJPEG uses less bandwidth than default YUY2.
        //builder.setStreamFormat(VisionPortal.StreamFormat.YUY2);

        // Choose whether or not LiveView stops if no processors are enabled.
        // If set "true", monitor shows solid orange screen if no processors enabled.
        // If set "false", monitor shows camera view without annotations.
        //builder.setAutoStopLiveView(false);

        // Set and enable the processor.
        builder.addProcessor(aprilTag);

        // Build the Vision Portal, using the above settings.
        visionPortal = builder.build();

        // Disable or re-enable the aprilTag processor at any time.
        //visionPortal.setProcessorEnabled(aprilTag, true);

    }   // 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
