/*
 * MIT License
 *
 * Copyright (c) PhotonVision
 *
 * 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 frc.robot;

import static frc.robot.Constants.Vision.*;

import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.smartdashboard.Field2d;
import org.photonvision.PhotonCamera;
import org.photonvision.simulation.PhotonCameraSim;
import org.photonvision.simulation.SimCameraProperties;
import org.photonvision.simulation.VisionSystemSim;

public class VisionSim {
    // Simulation
    private PhotonCameraSim cameraSim;
    private VisionSystemSim visionSim;

    public VisionSim(PhotonCamera cam_in) {
        // ----- Simulation
        if (Robot.isSimulation()) {
            // Create the vision system simulation which handles cameras and targets on the field.
            visionSim = new VisionSystemSim("main");
            // Add all the AprilTags inside the tag layout as visible targets to this simulated field.
            visionSim.addAprilTags(kTagLayout);
            // Create simulated camera properties. These can be set to mimic your actual camera.
            var cameraProp = new SimCameraProperties();
            cameraProp.setCalibration(320, 240, Rotation2d.fromDegrees(90));
            cameraProp.setCalibError(0.35, 0.10);
            cameraProp.setFPS(70);
            cameraProp.setAvgLatencyMs(30);
            cameraProp.setLatencyStdDevMs(10);
            // Create a PhotonCameraSim which will update the linked PhotonCamera's values with visible
            // targets.
            cameraSim = new PhotonCameraSim(cam_in, cameraProp);
            // Add the simulated camera to view the targets on this simulated field.
            visionSim.addCamera(cameraSim, kRobotToCam);

            cameraSim.enableDrawWireframe(true);
        }
    }

    // ----- Simulation

    public void simulationPeriodic(Pose2d robotSimPose) {
        visionSim.update(robotSimPose);
    }

    /** Reset pose history of the robot in the vision system simulation. */
    public void resetSimPose(Pose2d pose) {
        if (Robot.isSimulation()) visionSim.resetRobotPose(pose);
    }

    /** A Field2d for visualizing our robot and objects on the field. */
    public Field2d getSimDebugField() {
        if (!Robot.isSimulation()) return null;
        return visionSim.getDebugField();
    }
}