// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc4388.robot.commands.ShooterCommands;

import java.util.ArrayList;
import java.util.HashMap;
import java.util.stream.Collector;
import java.util.stream.Collectors;

import org.opencv.core.Point;

import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.RobotContainer;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.Constants.VisionConstants;
import frc4388.robot.subsystems.BoomBoom;
import frc4388.robot.subsystems.Hood;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Turret;
import frc4388.robot.subsystems.Vision;
import frc4388.robot.subsystems.VisionOdometry;
import frc4388.utility.Vector2D;
import frc4388.utility.desmos.DesmosServer;

public class TrackTarget extends CommandBase {
  /** Creates a new TrackTarget. */
  SwerveDrive m_swerve;
  Turret m_turret;
  VisionOdometry m_visionOdometry;
  BoomBoom m_boomBoom;
  Hood m_hood;

  boolean isAuto;

  static double velocity;
  static double hoodPosition;

  ArrayList<Point> points = new ArrayList<>();

  private boolean targetLocked = false;
  private double velocityTolerance = 100.0;
  private double hoodTolerance = 5.0;

  boolean isExecuted = false;

  // timing
  boolean isAimed;

  boolean timerStarted;
  long startTime;
  private double timeTolerance;

  public TrackTarget (Turret turret, BoomBoom boomBoom, Hood hood, VisionOdometry visionOdometry, boolean isAuto) {
    m_turret = turret;
    m_boomBoom = boomBoom;
    m_hood = hood;
    m_visionOdometry = visionOdometry;

    this.isAuto = isAuto;
    this.timeTolerance = 1000;

    addRequirements(m_turret, m_boomBoom, m_hood, m_visionOdometry);
  }

  public TrackTarget(Turret turret, BoomBoom boomBoom, Hood hood, VisionOdometry visionOdometry) {
    this(turret, boomBoom, hood, visionOdometry, false);
  }

  // Called when the command is initially scheduled.
  @Override
  public void initialize() {
    timerStarted = false;
    startTime = 0;

    velocity = 0;
    hoodPosition = 0;
  }

  // Called every time the scheduler runs while the command is scheduled.
  @Override
  public void execute() {    
    try {
      m_visionOdometry.setDriverMode(false);
      m_visionOdometry.setLEDs(true);

      points = m_visionOdometry.getTargetPoints();
      // points = getFakePoints();
      //// points = filterPoints(points);
      Point average = VisionOdometry.averagePoint(points);
      
      double output = (average.x - VisionConstants.LIME_HIXELS/2.d) / VisionConstants.LIME_HIXELS;
      output *= 2.0;
      
      m_turret.runTurretWithInput(output);
      // double position = m_turret.m_boomBoomRotateEncoder.getPosition();

      // if(Math.abs(position - ShooterConstants.TURRET_FORWARD_SOFT_LIMIT) < 5 ||
      //       Math.abs(position - ShooterConstants.TURRET_REVERSE_SOFT_LIMIT) < 5)
      //   m_swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(), output, true);
      // else
      //   m_swerve.driveWithInput(RobotContainer.getDriverController().getLeftX(), RobotContainer.getDriverController().getLeftY(),
      //                           RobotContainer.getDriverController().getRightX(), RobotContainer.getDriverController().getRightY(),
      //                           true);

      
      double regressedDistance = getDistance(average.y);
      
      // ! no longer a +30 lol -aarav
      velocity = m_boomBoom.getVelocity(regressedDistance);
      hoodPosition = m_boomBoom.getHood(regressedDistance);
      
      m_boomBoom.runDrumShooterVelocityPID(velocity);
      m_hood.runAngleAdjustPID(hoodPosition);
      
      double currentDrumVel = this.m_boomBoom.m_shooterFalconLeft.getSelectedSensorVelocity();
      double currentHood = this.m_hood.getEncoderPosition();
  
      targetLocked = (Math.abs(currentDrumVel - velocity) < velocityTolerance) && (Math.abs(currentHood - hoodPosition) < hoodTolerance);

      SmartDashboard.putNumber("Regressed Distance", regressedDistance);
      // SmartDashboard.putNumber("Distance", distance);
      SmartDashboard.putNumber("Hood Target Angle Track", hoodPosition);
      SmartDashboard.putNumber("Vel Target Track", velocity);
      SmartDashboard.putBoolean("Target Locked", targetLocked);
    } catch (Exception e){
      e.printStackTrace();
    }

    // run storage
    
  }

  public ArrayList<Point> filterPoints(ArrayList<Point> points) {
    Point average = VisionOdometry.averagePoint(points);
      
    HashMap<Point, Double> pointDistances = new HashMap<>();
    double distanceSum = 0;

    for(Point point : points) {
      Vector2D difference = new Vector2D(point);
      difference.subtract(new Vector2D(average));

      double mag = difference.magnitude();
      distanceSum += mag;

      pointDistances.put(point, mag);
    }

    final double averageDist = distanceSum / points.size();
    return (ArrayList<Point>) pointDistances.keySet().stream().filter(p -> pointDistances.get(p) < 1.3 * averageDist).collect(Collectors.toList());
  }

  public final ArrayList<Point> getFakePoints() {
    ArrayList<Point> fakePoints = new ArrayList<>();

    for(int i = 0; i < 10; i++) {
      Point p = new Point((Math.random() * 20) - 10 + (VisionConstants.LIME_HIXELS/2), (Math.random() * 20) - 10 + (VisionConstants.LIME_VIXELS/2));
      fakePoints.add(p);
    }

    return fakePoints;
  }

  public final double getDistance(double averageY) {
    double y_rot = averageY / VisionConstants.LIME_VIXELS;
    y_rot *= Math.toRadians(VisionConstants.V_FOV);
    y_rot -= Math.toRadians(VisionConstants.V_FOV) / 2;
    y_rot += Math.toRadians(VisionConstants.LIME_ANGLE);
    
    double distance = (VisionConstants.TARGET_HEIGHT - VisionConstants.LIME_HEIGHT) / Math.tan(y_rot);
    
    double regressedDistance = distanceRegression(distance);
    regressedDistance += VisionConstants.EDGE_TO_CENTER + VisionConstants.LIMELIGHT_RADIUS;
    SmartDashboard.putNumber("Distance from Lime 123", distance);
    SmartDashboard.putNumber("Regressed Distance from Lime 123", regressedDistance);
    return regressedDistance;
  }

  public final double distanceRegression(double distance) {
    return (79.6078 * Math.pow(1.01343, distance) - 56.6671);
  }

  // Called once the command ends or is interrupted.
  @Override
  public void end(boolean interrupted) {
    m_visionOdometry.setLEDs(false);
    m_visionOdometry.setDriverMode(true);
  }

  // Returns true when the command should end.
  @Override
  public boolean isFinished() {
  ////   if (this.isAuto) {
  ////     if (targetLocked& !timerStarted) {
  ////       timerStarted = true;
  ////       startTime = System.currentTimeMillis();
  ////     }
  ////     return (targetLocked && timerStarted && ((System.currentTimeMillis() - startTime) > timeTolerance));
  ////   } else {
  ////     return false;
  ////   }
  //   // return isExecuted && Math.abs(output) < .1;
  //// }

    return false;
  }
}