content: /*
   * Copyright (c) 2024 Phil Malone
   *
   * Permission is hereby granted, free of charge, to any person obtaining a copy
   * of this software and associated documentation files (the "Software"), to deal
   * in the Software without restriction, including without limitation the rights
   * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
   * copies of the Software, and to permit persons to whom the Software is
   * furnished to do so, subject to the following conditions:
   *
   * The above copyright notice and this permission notice shall be included in all
   * copies or substantial portions of the Software.
   * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
   * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
   * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
   * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
   * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
   * SOFTWARE.
   */
  
  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.Telemetry;
  import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
  import org.firstinspires.ftc.vision.VisionPortal;
  import org.firstinspires.ftc.vision.opencv.ImageRegion;
  import org.firstinspires.ftc.vision.opencv.PredominantColorProcessor;
  
  /*
   * This OpMode illustrates how to use a video source (camera) as a color sensor
   *
   * A "color sensor" will typically determine the color of the object that it is pointed at.
   *
   * This sample performs the same function, except it uses a video camera to inspect an object or scene.
   * The user may choose to inspect all, or just a Region of Interest (ROI), of the active camera view.
   * The user must also provide a list of "acceptable colors" (Swatches) from which the closest matching color will be selected.
   *
   * To perform this function, a VisionPortal runs a PredominantColorProcessor process.
   *   The PredominantColorProcessor process is created first, and then the VisionPortal is built to use this process.
   *   The PredominantColorProcessor analyses the ROI and splits the colored pixels into several color-clusters.
   *   The largest of these clusters is then considered to be the "Predominant Color"
   *   The process then matches the Predominant Color with the closest Swatch and returns that match.
   *
   * To aid the user, a colored rectangle is drawn on the camera preview to show the RegionOfInterest,
   * The Predominant Color is used to paint the rectangle border, so the user can verify that the color is reasonable.
   *
   * 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
   */
  
  @Disabled
  @TeleOp(name = "Concept: Vision Color-Sensor", group = "Concept")
  public class ConceptVisionColorSensor extends LinearOpMode
  {
      @Override
      public void runOpMode()
      {
          /* Build a "Color Sensor" vision processor based on the PredominantColorProcessor class.
           *
           * - Focus the color sensor by defining a RegionOfInterest (ROI) which you want to inspect.
           *     This can be the entire frame, or a sub-region defined using:
           *     1) standard image coordinates or 2) a normalized +/- 1.0 coordinate system.
           *     Use one form of the ImageRegion class to define the ROI.
           *         ImageRegion.entireFrame()
           *         ImageRegion.asImageCoordinates(50, 50,  150, 150)  100x100 pixel square near the upper left corner
           *         ImageRegion.asUnityCenterCoordinates(-0.1, 0.1, 0.1, -0.1)  10% width/height square centered on screen
           *
           * - Set the list of "acceptable" color swatches (matches).
           *     Only colors that you assign here will be returned.
           *     If you know the sensor will be pointing to one of a few specific colors, enter them here.
           *     Or, if the sensor may be pointed randomly, provide some additional colors that may match the surrounding.
           *     Possible choices are:
           *         RED, ORANGE, YELLOW, GREEN, CYAN, BLUE, PURPLE, MAGENTA, BLACK, WHITE;
           *
           *     Note that in the example shown below, only some of the available colors are included.
           *     This will force any other colored region into one of these colors.
           *     eg: Green may be reported as YELLOW, as this may be the "closest" match.
           */
          PredominantColorProcessor colorSensor = new PredominantColorProcessor.Builder()
                  .setRoi(ImageRegion.asUnityCenterCoordinates(-0.1, 0.1, 0.1, -0.1))
                  .setSwatches(
                          PredominantColorProcessor.Swatch.RED,
                          PredominantColorProcessor.Swatch.BLUE,
                          PredominantColorProcessor.Swatch.YELLOW,
                          PredominantColorProcessor.Swatch.BLACK,
                          PredominantColorProcessor.Swatch.WHITE)
                  .build();
  
          /*
           * Build a vision portal to run the Color Sensor process.
           *
           *  - Add the colorSensor process created above.
           *  - Set the desired video resolution.
           *      Since a high resolution will not improve this process, choose a lower resolution that is
           *      supported by your camera.  This will improve overall performance and reduce latency.
           *  - Choose your video source.  This may be
           *      .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))  .....   for a webcam
           *  or
           *      .setCamera(BuiltinCameraDirection.BACK)    ... for a Phone Camera
           */
          VisionPortal portal = new VisionPortal.Builder()
                  .addProcessor(colorSensor)
                  .setCameraResolution(new Size(320, 240))
                  .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
                  .build();
  
          telemetry.setMsTransmissionInterval(50);  // Speed up telemetry updates, Just use for debugging.
          telemetry.setDisplayFormat(Telemetry.DisplayFormat.MONOSPACE);
  
          // WARNING:  To be able to view the stream preview on the Driver Station, this code runs in INIT mode.
          while (opModeIsActive() || opModeInInit())
          {
              telemetry.addLine("Preview on/off: 3 dots, Camera Stream\n");
  
              // Request the most recent color analysis.
              // This will return the closest matching colorSwatch and the predominant color in RGB, HSV and YCrCb color spaces.
              // The color space values are returned as three-element int[] arrays as follows:
              //  RGB   Red 0-255, Green 0-255, Blue 0-255
              //  HSV   Hue 0-180, Saturation 0-255, Value 0-255
              //  YCrCb Luminance(Y) 0-255, Cr 0-255 (center 128), Cb 0-255 (center 128)
              //
              // Note: to take actions based on the detected color, simply use the colorSwatch or color space value in a comparison or switch.
              //  eg:
              //      if (result.closestSwatch == PredominantColorProcessor.Swatch.RED) {... some code  ...}
              //  or:
              //      if (result.RGB[0] > 128) {... some code  ...}
  
              PredominantColorProcessor.Result result = colorSensor.getAnalysis();
  
              // Display the Color Sensor result.
              telemetry.addData("Best Match", result.closestSwatch);
              telemetry.addLine(String.format("RGB   (%3d, %3d, %3d)", result.RGB[0], result.RGB[1], result.RGB[2]));
              telemetry.addLine(String.format("HSV   (%3d, %3d, %3d)", result.HSV[0], result.HSV[1], result.HSV[2]));
              telemetry.addLine(String.format("YCrCb (%3d, %3d, %3d)", result.YCrCb[0], result.YCrCb[1], result.YCrCb[2]));
              telemetry.update();
  
              sleep(20);
          }
      }
  }
  