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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 com.qualcomm.robotcore.util.Range;
  import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
  import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.ExposureControl;
  import org.firstinspires.ftc.robotcore.external.hardware.camera.controls.GainControl;
  import org.firstinspires.ftc.vision.VisionPortal;
  import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
  import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
  
  import java.util.List;
  import java.util.concurrent.TimeUnit;
  
  /*
   * This OpMode determines the best Exposure for minimizing image motion-blur on a Webcam
   * Note that it is not possible to control the exposure for a Phone Camera, so if you are using a Phone for the Robot Controller
   * this OpMode/Feature only applies to an externally connected Webcam
   *
   * The goal is to determine the smallest (shortest) Exposure value that still provides reliable Tag Detection.
   * Starting with the minimum Exposure and maximum Gain, the exposure is slowly increased until the Tag is
   * detected reliably from the likely operational distance.
   *
   *
   * The best way to run this optimization is to view the camera preview screen while changing the exposure and gains.
   *
   * To do this, you need to view the RobotController screen directly (not from Driver Station)
   * This can be done directly from a RC phone screen (if you are using an external Webcam), but for a Control Hub you must either plug an
   * HDMI monitor into the Control Hub HDMI port, or use an external viewer program like ScrCpy (https://scrcpy.org/)
   *
   * Use Android Studio to Copy this Class, and Paste it into the TeamCode/src/main/java/org/firstinspires/ftc/teamcode folder.
   * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
   */
  
  @TeleOp(name="Optimize AprilTag Exposure", group = "Concept")
  @Disabled
  public class ConceptAprilTagOptimizeExposure extends LinearOpMode
  {
      private VisionPortal visionPortal = null;        // Used to manage the video source.
      private AprilTagProcessor aprilTag;              // Used for managing the AprilTag detection process.
      private int     myExposure  ;
      private int     minExposure ;
      private int     maxExposure ;
      private int     myGain      ;
      private int     minGain ;
      private int     maxGain ;
  
      boolean thisExpUp = false;
      boolean thisExpDn = false;
      boolean thisGainUp = false;
      boolean thisGainDn = false;
  
      boolean lastExpUp = false;
      boolean lastExpDn = false;
      boolean lastGainUp = false;
      boolean lastGainDn = false;
      @Override public void runOpMode()
      {
          // Initialize the Apriltag Detection process
          initAprilTag();
  
          // Establish Min and Max Gains and Exposure.  Then set a low exposure with high gain
          getCameraSetting();
          myExposure = Math.min(5, minExposure);
          myGain = maxGain;
          setManualExposure(myExposure, myGain);
  
          // Wait for the match to begin.
          telemetry.addData("Camera preview on/off", "3 dots, Camera Stream");
          telemetry.addData(">", "Touch START to start OpMode");
          telemetry.update();
          waitForStart();
  
          while (opModeIsActive())
          {
              telemetry.addLine("Find lowest Exposure that gives reliable detection.");
              telemetry.addLine("Use Left bump/trig to adjust Exposure.");
              telemetry.addLine("Use Right bump/trig to adjust Gain.\n");
  
              // Display how many Tags Detected
              List<AprilTagDetection> currentDetections = aprilTag.getDetections();
              int numTags = currentDetections.size();
              if (numTags > 0 )
                  telemetry.addData("Tag", "####### %d Detected  ######", currentDetections.size());
              else
                  telemetry.addData("Tag", "----------- none - ----------");
  
              telemetry.addData("Exposure","%d  (%d - %d)", myExposure, minExposure, maxExposure);
              telemetry.addData("Gain","%d  (%d - %d)", myGain, minGain, maxGain);
              telemetry.update();
  
              // check to see if we need to change exposure or gain.
              thisExpUp = gamepad1.left_bumper;
              thisExpDn = gamepad1.left_trigger > 0.25;
              thisGainUp = gamepad1.right_bumper;
              thisGainDn = gamepad1.right_trigger > 0.25;
  
              // look for clicks to change exposure
              if (thisExpUp && !lastExpUp) {
                  myExposure = Range.clip(myExposure + 1, minExposure, maxExposure);
                  setManualExposure(myExposure, myGain);
              } else if (thisExpDn && !lastExpDn) {
                  myExposure = Range.clip(myExposure - 1, minExposure, maxExposure);
                  setManualExposure(myExposure, myGain);
              }
  
              // look for clicks to change the gain
              if (thisGainUp && !lastGainUp) {
                  myGain = Range.clip(myGain + 1, minGain, maxGain );
                  setManualExposure(myExposure, myGain);
              } else if (thisGainDn && !lastGainDn) {
                  myGain = Range.clip(myGain - 1, minGain, maxGain );
                  setManualExposure(myExposure, myGain);
              }
  
              lastExpUp = thisExpUp;
              lastExpDn = thisExpDn;
              lastGainUp = thisGainUp;
              lastGainDn = thisGainDn;
  
              sleep(20);
          }
      }
  
      /**
       * Initialize the AprilTag processor.
       */
      private void initAprilTag() {
          // Create the AprilTag processor by using a builder.
          aprilTag = new AprilTagProcessor.Builder().build();
  
          // Create the WEBCAM vision portal by using a builder.
          visionPortal = new VisionPortal.Builder()
                  .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
                  .addProcessor(aprilTag)
                  .build();
      }
  
      /*
          Manually set the camera gain and exposure.
          Can only be called AFTER calling initAprilTag();
          Returns true if controls are set.
       */
      private boolean    setManualExposure(int exposureMS, int gain) {
          // Ensure Vision Portal has been setup.
          if (visionPortal == null) {
              return false;
          }
  
          // Wait for the camera to be open
          if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) {
              telemetry.addData("Camera", "Waiting");
              telemetry.update();
              while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) {
                  sleep(20);
              }
              telemetry.addData("Camera", "Ready");
              telemetry.update();
          }
  
          // Set camera controls unless we are stopping.
          if (!isStopRequested())
          {
              // Set exposure.  Make sure we are in Manual Mode for these values to take effect.
              ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class);
              if (exposureControl.getMode() != ExposureControl.Mode.Manual) {
                  exposureControl.setMode(ExposureControl.Mode.Manual);
                  sleep(50);
              }
              exposureControl.setExposure((long)exposureMS, TimeUnit.MILLISECONDS);
              sleep(20);
  
              // Set Gain.
              GainControl gainControl = visionPortal.getCameraControl(GainControl.class);
              gainControl.setGain(gain);
              sleep(20);
              return (true);
          } else {
              return (false);
          }
      }
  
      /*
          Read this camera's minimum and maximum Exposure and Gain settings.
          Can only be called AFTER calling initAprilTag();
       */
      private void getCameraSetting() {
          // Ensure Vision Portal has been setup.
          if (visionPortal == null) {
              return;
          }
  
          // Wait for the camera to be open
          if (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING) {
              telemetry.addData("Camera", "Waiting");
              telemetry.update();
              while (!isStopRequested() && (visionPortal.getCameraState() != VisionPortal.CameraState.STREAMING)) {
                  sleep(20);
              }
              telemetry.addData("Camera", "Ready");
              telemetry.update();
          }
  
          // Get camera control values unless we are stopping.
          if (!isStopRequested()) {
              ExposureControl exposureControl = visionPortal.getCameraControl(ExposureControl.class);
              minExposure = (int)exposureControl.getMinExposure(TimeUnit.MILLISECONDS) + 1;
              maxExposure = (int)exposureControl.getMaxExposure(TimeUnit.MILLISECONDS);
  
              GainControl gainControl = visionPortal.getCameraControl(GainControl.class);
              minGain = gainControl.getMinGain();
              maxGain = gainControl.getMaxGain();
          }
      }
  }
  