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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.ClassFactory;
import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
import org.firstinspires.ftc.robotcore.external.matrices.VectorF;
import org.firstinspires.ftc.robotcore.external.navigation.Orientation;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;

import java.util.ArrayList;
import java.util.List;

import static org.firstinspires.ftc.robotcore.external.navigation.AngleUnit.DEGREES;
import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.XYZ;
import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.YZX;
import static org.firstinspires.ftc.robotcore.external.navigation.AxesReference.EXTRINSIC;
import static org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer.CameraDirection.BACK;

/**
 * This 2020-2021 OpMode illustrates the basics of using the Vuforia localizer to determine
 * positioning and orientation of robot on the ULTIMATE GOAL FTC field.
 * The code is structured as a LinearOpMode
 *
 * When images are located, Vuforia is able to determine the position and orientation of the
 * image relative to the camera.  This sample code then combines that information with a
 * knowledge of where the target images are on the field, to determine the location of the camera.
 *
 * From the Audience perspective, the Red Alliance station is on the right and the
 * Blue Alliance Station is on the left.

 * There are a total of five image targets for the ULTIMATE GOAL game.
 * Three of the targets are placed in the center of the Red Alliance, Audience (Front),
 * and Blue Alliance perimeter walls.
 * Two additional targets are placed on the perimeter wall, one in front of each Tower Goal.
 * Refer to the Field Setup manual for more specific location details
 *
 * A final calculation then uses the location of the camera on the robot to determine the
 * robot's location and orientation on the field.
 *
 * @see VuforiaLocalizer
 * @see VuforiaTrackableDefaultListener
 * see  ultimategoal/doc/tutorial/FTC_FieldCoordinateSystemDefinition.pdf
 *
 * 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.
 *
 * IMPORTANT: In order to use this OpMode, you need to obtain your own Vuforia license key as
 * is explained below.
 */


@TeleOp(name="ULTIMATEGOAL Vuforia Nav", group ="Concept")
@Disabled
public class ConceptVuforiaUltimateGoalNavigation extends LinearOpMode {

    // IMPORTANT:  For Phone Camera, set 1) the camera source and 2) the orientation, based on how your phone is mounted:
    // 1) Camera Source.  Valid choices are:  BACK (behind screen) or FRONT (selfie side)
    // 2) Phone Orientation. Choices are: PHONE_IS_PORTRAIT = true (portrait) or PHONE_IS_PORTRAIT = false (landscape)
    //
    // NOTE: If you are running on a CONTROL HUB, with only one USB WebCam, you must select CAMERA_CHOICE = BACK; and PHONE_IS_PORTRAIT = false;
    //
    private static final VuforiaLocalizer.CameraDirection CAMERA_CHOICE = BACK;
    private static final boolean PHONE_IS_PORTRAIT = false  ;

    /*
     * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
     * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
     * A Vuforia 'Development' license key, can be obtained free of charge from the Vuforia developer
     * web site at https://developer.vuforia.com/license-manager.
     *
     * Vuforia license keys are always 380 characters long, and look as if they contain mostly
     * random data. As an example, here is a example of a fragment of a valid key:
     *      ... yIgIzTqZ4mWjk9wd3cZO9T1axEqzuhxoGlfOOI2dRzKS4T0hQ8kT ...
     * Once you've obtained a license key, copy the string from the Vuforia web site
     * and paste it in to your code on the next line, between the double quotes.
     */
    private static final String VUFORIA_KEY =
            " -- YOUR NEW VUFORIA KEY GOES HERE  --- ";

    // Since ImageTarget trackables use mm to specifiy their dimensions, we must use mm for all the physical dimension.
    // We will define some constants and conversions here
    private static final float mmPerInch        = 25.4f;
    private static final float mmTargetHeight   = (6) * mmPerInch;          // the height of the center of the target image above the floor

    // Constants for perimeter targets
    private static final float halfField = 72 * mmPerInch;
    private static final float quadField  = 36 * mmPerInch;

    // Class Members
    private OpenGLMatrix lastLocation = null;
    private VuforiaLocalizer vuforia = null;
    private boolean targetVisible = false;
    private float phoneXRotate    = 0;
    private float phoneYRotate    = 0;
    private float phoneZRotate    = 0;

    @Override public void runOpMode() {
        /*
         * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
         * We can pass Vuforia the handle to a camera preview resource (on the RC phone);
         * If no camera monitor is desired, use the parameter-less constructor instead (commented out below).
         */
        int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);

        // VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters();

        parameters.vuforiaLicenseKey = VUFORIA_KEY;
        parameters.cameraDirection   = CAMERA_CHOICE;

        // Make sure extended tracking is disabled for this example.
        parameters.useExtendedTracking = false;

        //  Instantiate the Vuforia engine
        vuforia = ClassFactory.getInstance().createVuforia(parameters);

        // Load the data sets for the trackable objects. These particular data
        // sets are stored in the 'assets' part of our application.
        VuforiaTrackables targetsUltimateGoal = this.vuforia.loadTrackablesFromAsset("UltimateGoal");
        VuforiaTrackable blueTowerGoalTarget = targetsUltimateGoal.get(0);
        blueTowerGoalTarget.setName("Blue Tower Goal Target");
        VuforiaTrackable redTowerGoalTarget = targetsUltimateGoal.get(1);
        redTowerGoalTarget.setName("Red Tower Goal Target");
        VuforiaTrackable redAllianceTarget = targetsUltimateGoal.get(2);
        redAllianceTarget.setName("Red Alliance Target");
        VuforiaTrackable blueAllianceTarget = targetsUltimateGoal.get(3);
        blueAllianceTarget.setName("Blue Alliance Target");
        VuforiaTrackable frontWallTarget = targetsUltimateGoal.get(4);
        frontWallTarget.setName("Front Wall Target");

        // For convenience, gather together all the trackable objects in one easily-iterable collection */
        List<VuforiaTrackable> allTrackables = new ArrayList<VuforiaTrackable>();
        allTrackables.addAll(targetsUltimateGoal);

        /**
         * In order for localization to work, we need to tell the system where each target is on the field, and
         * where the phone resides on the robot.  These specifications are in the form of <em>transformation matrices.</em>
         * Transformation matrices are a central, important concept in the math here involved in localization.
         * See <a href="https://en.wikipedia.org/wiki/Transformation_matrix">Transformation Matrix</a>
         * for detailed information. Commonly, you'll encounter transformation matrices as instances
         * of the {@link OpenGLMatrix} class.
         *
         * If you are standing in the Red Alliance Station looking towards the center of the field,
         *     - The X axis runs from your left to the right. (positive from the center to the right)
         *     - The Y axis runs from the Red Alliance Station towards the other side of the field
         *       where the Blue Alliance Station is. (Positive is from the center, towards the BlueAlliance station)
         *     - The Z axis runs from the floor, upwards towards the ceiling.  (Positive is above the floor)
         *
         * Before being transformed, each target image is conceptually located at the origin of the field's
         *  coordinate system (the center of the field), facing up.
         */

        //Set the position of the perimeter targets with relation to origin (center of field)
        redAllianceTarget.setLocation(OpenGLMatrix
                .translation(0, -halfField, mmTargetHeight)
                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, 180)));

        blueAllianceTarget.setLocation(OpenGLMatrix
                .translation(0, halfField, mmTargetHeight)
                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, 0)));
        frontWallTarget.setLocation(OpenGLMatrix
                .translation(-halfField, 0, mmTargetHeight)
                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0 , 90)));

        // The tower goal targets are located a quarter field length from the ends of the back perimeter wall.
        blueTowerGoalTarget.setLocation(OpenGLMatrix
                .translation(halfField, quadField, mmTargetHeight)
                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0 , -90)));
        redTowerGoalTarget.setLocation(OpenGLMatrix
                .translation(halfField, -quadField, mmTargetHeight)
                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, -90)));

        //
        // Create a transformation matrix describing where the phone is on the robot.
        //
        // NOTE !!!!  It's very important that you turn OFF your phone's Auto-Screen-Rotation option.
        // Lock it into Portrait for these numbers to work.
        //
        // Info:  The coordinate frame for the robot looks the same as the field.
        // The robot's "forward" direction is facing out along X axis, with the LEFT side facing out along the Y axis.
        // Z is UP on the robot.  This equates to a bearing angle of Zero degrees.
        //
        // The phone starts out lying flat, with the screen facing Up and with the physical top of the phone
        // pointing to the LEFT side of the Robot.
        // The two examples below assume that the camera is facing forward out the front of the robot.

        // We need to rotate the camera around it's long axis to bring the correct camera forward.
        if (CAMERA_CHOICE == BACK) {
            phoneYRotate = -90;
        } else {
            phoneYRotate = 90;
        }

        // Rotate the phone vertical about the X axis if it's in portrait mode
        if (PHONE_IS_PORTRAIT) {
            phoneXRotate = 90 ;
        }

        // Next, translate the camera lens to where it is on the robot.
        // In this example, it is centered (left to right), but forward of the middle of the robot, and above ground level.
        final float CAMERA_FORWARD_DISPLACEMENT  = 4.0f * mmPerInch;   // eg: Camera is 4 Inches in front of robot center
        final float CAMERA_VERTICAL_DISPLACEMENT = 8.0f * mmPerInch;   // eg: Camera is 8 Inches above ground
        final float CAMERA_LEFT_DISPLACEMENT     = 0;     // eg: Camera is ON the robot's center line

        OpenGLMatrix robotFromCamera = OpenGLMatrix
                    .translation(CAMERA_FORWARD_DISPLACEMENT, CAMERA_LEFT_DISPLACEMENT, CAMERA_VERTICAL_DISPLACEMENT)
                    .multiplied(Orientation.getRotationMatrix(EXTRINSIC, YZX, DEGREES, phoneYRotate, phoneZRotate, phoneXRotate));

        /**  Let all the trackable listeners know where the phone is.  */
        for (VuforiaTrackable trackable : allTrackables) {
            ((VuforiaTrackableDefaultListener) trackable.getListener()).setPhoneInformation(robotFromCamera, parameters.cameraDirection);
        }

        // WARNING:
        // In this sample, we do not wait for PLAY to be pressed.  Target Tracking is started immediately when INIT is pressed.
        // This sequence is used to enable the new remote DS Camera Preview feature to be used with this sample.
        // CONSEQUENTLY do not put any driving commands in this loop.
        // To restore the normal opmode structure, just un-comment the following line:

        // waitForStart();

        // Note: To use the remote camera preview:
        // AFTER you hit Init on the Driver Station, use the "options menu" to select "Camera Stream"
        // Tap the preview window to receive a fresh image.

        targetsUltimateGoal.activate();
        while (!isStopRequested()) {

            // check all the trackable targets to see which one (if any) is visible.
            targetVisible = false;
            for (VuforiaTrackable trackable : allTrackables) {
                if (((VuforiaTrackableDefaultListener)trackable.getListener()).isVisible()) {
                    telemetry.addData("Visible Target", trackable.getName());
                    targetVisible = true;

                    // getUpdatedRobotLocation() will return null if no new information is available since
                    // the last time that call was made, or if the trackable is not currently visible.
                    OpenGLMatrix robotLocationTransform = ((VuforiaTrackableDefaultListener)trackable.getListener()).getUpdatedRobotLocation();
                    if (robotLocationTransform != null) {
                        lastLocation = robotLocationTransform;
                    }
                    break;
                }
            }

            // Provide feedback as to where the robot is located (if we know).
            if (targetVisible) {
                // express position (translation) of robot in inches.
                VectorF translation = lastLocation.getTranslation();
                telemetry.addData("Pos (in)", "{X, Y, Z} = %.1f, %.1f, %.1f",
                        translation.get(0) / mmPerInch, translation.get(1) / mmPerInch, translation.get(2) / mmPerInch);

                // express the rotation of the robot in degrees.
                Orientation rotation = Orientation.getOrientation(lastLocation, EXTRINSIC, XYZ, DEGREES);
                telemetry.addData("Rot (deg)", "{Roll, Pitch, Heading} = %.0f, %.0f, %.0f", rotation.firstAngle, rotation.secondAngle, rotation.thirdAngle);
            }
            else {
                telemetry.addData("Visible Target", "none");
            }
            telemetry.update();
        }

        // Disable Tracking when we are done;
        targetsUltimateGoal.deactivate();
    }
}
