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

import com.qualcomm.hardware.dfrobot.HuskyLens;
import com.qualcomm.hardware.rev.Rev2mDistanceSensor;
import com.qualcomm.robotcore.eventloop.opmode.Disabled;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
import com.qualcomm.robotcore.hardware.DistanceSensor;

import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.robotcore.internal.system.Deadline;

import java.util.concurrent.TimeUnit;

/*
 * This OpMode illustrates how to use the DFRobot HuskyLens.
 *
 * The HuskyLens is a Vision Sensor with a built-in object detection model.  It can
 * detect a number of predefined objects and AprilTags in the 36h11 family, can
 * recognize colors, and can be trained to detect custom objects. See this website for
 * documentation: https://wiki.dfrobot.com/HUSKYLENS_V1.0_SKU_SEN0305_SEN0336
 * 
 * This sample illustrates how to detect AprilTags, but can be used to detect other types
 * of objects by changing the algorithm. It assumes that the HuskyLens is configured with
 * a name of "huskylens".
 *
 * 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 = "Sensor: HuskyLens", group = "Sensor")
@Disabled
public class SensorHuskyLens extends LinearOpMode {

    private final int READ_PERIOD = 1;

    private HuskyLens huskyLens;

    @Override
    public void runOpMode()
    {
        huskyLens = hardwareMap.get(HuskyLens.class, "huskylens");

        /*
         * This sample rate limits the reads solely to allow a user time to observe
         * what is happening on the Driver Station telemetry.  Typical applications
         * would not likely rate limit.
         */
        Deadline rateLimit = new Deadline(READ_PERIOD, TimeUnit.SECONDS);

        /*
         * Immediately expire so that the first time through we'll do the read.
         */
        rateLimit.expire();

        /*
         * Basic check to see if the device is alive and communicating.  This is not
         * technically necessary here as the HuskyLens class does this in its
         * doInitialization() method which is called when the device is pulled out of
         * the hardware map.  However, sometimes it's unclear why a device reports as
         * failing on initialization.  In the case of this device, it's because the
         * call to knock() failed.
         */
        if (!huskyLens.knock()) {
            telemetry.addData(">>", "Problem communicating with " + huskyLens.getDeviceName());
        } else {
            telemetry.addData(">>", "Press start to continue");
        }

        /*
         * The device uses the concept of an algorithm to determine what types of
         * objects it will look for and/or what mode it is in.  The algorithm may be
         * selected using the scroll wheel on the device, or via software as shown in
         * the call to selectAlgorithm().
         *
         * The SDK itself does not assume that the user wants a particular algorithm on
         * startup, and hence does not set an algorithm.
         *
         * Users, should, in general, explicitly choose the algorithm they want to use
         * within the OpMode by calling selectAlgorithm() and passing it one of the values
         * found in the enumeration HuskyLens.Algorithm.
         */
        huskyLens.selectAlgorithm(HuskyLens.Algorithm.TAG_RECOGNITION);

        telemetry.update();
        waitForStart();

        /*
         * Looking for AprilTags per the call to selectAlgorithm() above.  A handy grid
         * for testing may be found at https://wiki.dfrobot.com/HUSKYLENS_V1.0_SKU_SEN0305_SEN0336#target_20.
         *
         * Note again that the device only recognizes the 36h11 family of tags out of the box.
         */
        while(opModeIsActive()) {
            if (!rateLimit.hasExpired()) {
                continue;
            }
            rateLimit.reset();

            /*
             * All algorithms, except for LINE_TRACKING, return a list of Blocks where a
             * Block represents the outline of a recognized object along with its ID number.
             * ID numbers allow you to identify what the device saw.  See the HuskyLens documentation
             * referenced in the header comment above for more information on IDs and how to
             * assign them to objects.
             *
             * Returns an empty array if no objects are seen.
             */
            HuskyLens.Block[] blocks = huskyLens.blocks();
            telemetry.addData("Block count", blocks.length);
            for (int i = 0; i < blocks.length; i++) {
                telemetry.addData("Block", blocks[i].toString());
            }

            telemetry.update();
        }
    }
}