package com.chameleonvision.classabstraction.camera;

import edu.wpi.cscore.UsbCamera;
import edu.wpi.cscore.VideoMode;
import org.apache.commons.math3.util.FastMath;

import java.util.Arrays;
import java.util.List;
import java.util.function.Predicate;
import java.util.stream.Collectors;
import java.util.stream.Stream;

public class CameraProperties {
    private static final double DEFAULT_FOV = 70;
    private static final int DEFAULT_EXPOSURE = 50;
    private static final int DEFAULT_BRIGHTNESS = 50;
    private static final int MINIMUM_FPS = 30;
    private static final int MINIMUM_WIDTH = 320;
    private static final int MINIMUM_HEIGHT = 200;
    private static final int MAX_INIT_MS = 1500;
    private static final List<VideoMode.PixelFormat> ALLOWED_PIXEL_FORMATS = Arrays.asList(VideoMode.PixelFormat.kYUYV, VideoMode.PixelFormat.kMJPEG);

    private static final Predicate<VideoMode> kMinFPSPredicate = (videoMode -> videoMode.fps >= MINIMUM_FPS);
    private static final Predicate<VideoMode> kMinSizePredicate = (videoMode -> videoMode.width >= MINIMUM_FPS && videoMode.height >= MINIMUM_FPS);
    private static final Predicate<VideoMode> kPixelFormatPredicate = (videoMode -> ALLOWED_PIXEL_FORMATS.contains(videoMode.pixelFormat));

    public CameraStaticProperties staticProperties;
    public final double FOV;
    public final List<VideoMode> videoModes;

    public CameraProperties(UsbCamera baseCamera, double fov) {
        FOV = fov;

        videoModes = filterVideoModes(baseCamera.enumerateVideoModes());


    }

    private List<VideoMode> filterVideoModes(VideoMode[] videoModes) {
        Predicate<VideoMode> fullPredicate = kMinFPSPredicate.and(kMinSizePredicate).and(kPixelFormatPredicate);
        Stream<VideoMode> validModes = Arrays.stream(videoModes).filter(fullPredicate);
        return validModes.collect(Collectors.toList());
    }

    public void updateVideoMode(VideoMode videoMode) {
        staticProperties = new CameraStaticProperties(videoMode.width, videoMode.height, FOV);
    }

    public double CalculatePitch(double PixelY, double centerY) {
        double pitch = FastMath.toDegrees(FastMath.atan((PixelY - centerY) / staticProperties.VerticalFocalLength));
        return (pitch * -1);
    }

    public double CalculateYaw(double PixelX, double centerX) {
        return FastMath.toDegrees(FastMath.atan((PixelX - centerX) / staticProperties.HorizontalFocalLength));
    }
}