// 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 frc.robot;

import static edu.wpi.first.units.Units.*;

import java.util.Map;
import com.ctre.phoenix6.swerve.SwerveModule.DriveRequestType;
import com.ctre.phoenix6.hardware.Pigeon2;
import com.ctre.phoenix6.swerve.SwerveRequest;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.networktables.GenericEntry;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.commands.RainBow;
import frc.robot.commands.reset;
import frc.robot.commands.Elevateur.Depart;
import frc.robot.commands.Elevateur.ElevateurManuel;
import frc.robot.commands.Elevateur.L2;
import frc.robot.commands.Elevateur.L3;
import frc.robot.commands.Elevateur.L4;
import frc.robot.commands.Elevateur.StationPince;
import frc.robot.commands.Limelight.AprilTag3;
import frc.robot.commands.Limelight.AprilTag3G;
import frc.robot.commands.Limelight.Forme3;
import frc.robot.commands.Pince.AlgueExpire;
import frc.robot.commands.Pince.Algue_inspire;
import frc.robot.commands.Pince.CorailAspir;
import frc.robot.commands.Pince.CoralAlgueInspire;
import frc.robot.commands.Pince.CoralExpire;
import frc.robot.commands.Pince.PinceManuel;
import frc.robot.commands.requin.BalayeuseAlgue;
import frc.robot.commands.requin.BalayeuseCoral;
import frc.robot.commands.requin.BalayeuseHaut;
import frc.robot.commands.requin.ExpireCorail;
import frc.robot.commands.requin.L1Requin;
import frc.robot.subsystems.Bougie;
import frc.robot.subsystems.CommandSwerveDrivetrain;
import frc.robot.subsystems.Elevateur;
import frc.robot.subsystems.Limelight3;
import frc.robot.subsystems.Limelight3G;
import frc.robot.subsystems.Pince;
import frc.robot.subsystems.Requin;
import frc.robot.commands.requin.exspire;
import frc.robot.commands.Pince.DepartPince;
import frc.robot.commands.Elevateur.balonL2;
import frc.robot.commands.Elevateur.balonL3;

public class RobotContainer {
  ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto", BuiltInLayouts.kList)
    .withSize(2, 2).withProperties(Map.of("Label position", "LEFT"));
  GenericEntry L1 = layoutauto.add("choix L1",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
  GenericEntry sortirAngle = layoutauto.add("Cote?",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
  GenericEntry Reculer = layoutauto.add("Reculer",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
  GenericEntry L4 = layoutauto.add("L4",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
  private double MaxSpeed = TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
  private double MaxAngularRate = RotationsPerSecond.of(0.75).in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity

  /* Setting up bindings for necessary control of the swerve drive platform */
  private final SwerveRequest.RobotCentric drive = new SwerveRequest.RobotCentric()
    .withDeadband(MaxSpeed * 0.1).withRotationalDeadband(MaxAngularRate * 0.1) // Add a 10% deadband
    .withDriveRequestType(DriveRequestType.OpenLoopVoltage
    ); // Use open-loop control for drive motors

  private final Telemetry logger = new Telemetry(MaxSpeed);
  private final CommandXboxController manette1 = new CommandXboxController(0);
  private final CommandXboxController manette2 = new CommandXboxController(1);
  private final Pigeon2 gyro = new Pigeon2(13); // ID du Pigeon 2
  public final CommandSwerveDrivetrain drivetrain = TunerConstants.createDrivetrain();
  //private final SendableChooser<Command> autoChooser;
  public double getAngle() {
    return gyro.getYaw().getValueAsDouble(); // Retourne l'angle actuel du robot
  }

  Elevateur elevateur = new Elevateur();
  Pince pince = new Pince();
  ElevateurManuel elevateurManuel = new ElevateurManuel(elevateur, manette2::getLeftY);
  PinceManuel pinceManuel = new PinceManuel(pince,manette2::getRightY);
  Bougie bougie = new Bougie();
  Limelight3G limelight3g = new Limelight3G();
  Limelight3 limelight3 = new Limelight3();
  Pose2d pose = new Pose2d();
  Requin requin = new Requin();
  CorailAspir corailAspir = new CorailAspir(pince, bougie);
  public RobotContainer() {
  CameraServer.startAutomaticCapture();
  configureBindings();
  }

  private void configureBindings() {
    drivetrain.registerTelemetry(logger::telemeterize);
    drivetrain.setDefaultCommand(
      // Drivetrain will execute this command periodically
          drivetrain.applyRequest(() ->
            drive.withVelocityY(MathUtil.applyDeadband(-manette1.getLeftX()*-manette1.getLeftX()*-manette1.getLeftX()*MaxSpeed, 0.05)) // Drive forward with negative Y (forward)
              .withVelocityX(MathUtil.applyDeadband(-manette1.getLeftY()*-manette1.getLeftY()*-manette1.getLeftY()*MaxSpeed, 0.05)) // Drive left with negative X (left)
             .withRotationalRate(MathUtil.applyDeadband(-manette1.getRightX()*-manette1.getRightX()*-manette1.getRightX()*MaxAngularRate, 0.05)) // Drive counterclockwise with negative X (left)
        )
      );
    
            /* Manette 1 */
    //pince
    manette1.rightTrigger().whileTrue(new CoralAlgueInspire(pince, bougie));
    manette1.rightBumper().toggleOnTrue(new StationPince(pince, elevateur,bougie));
    manette1.povLeft().whileTrue(new AlgueExpire(pince, bougie));
    manette1.leftBumper().whileTrue(new AprilTag3G(limelight3g,drivetrain,manette1::getLeftX,manette1::getLeftY));
    manette1.povRight().whileTrue(new CoralExpire(pince, bougie));
    manette1.leftTrigger().whileTrue(new DepartPince(pince));
    manette1.povDown().whileTrue(new Algue_inspire(pince,bougie));
    manette1.leftStick().whileTrue(new CorailAspir(pince, bougie));
    //elevateur
    manette1.a().toggleOnTrue(new Depart(elevateur, pince));
    manette1.b().toggleOnTrue(new L2(elevateur,pince));
    manette1.x().toggleOnTrue(new L3(elevateur, pince));
    manette1.y().toggleOnTrue(new L4(elevateur, pince));
    manette1.povUp().toggleOnTrue(new balonL2(elevateur));
    manette1.start().toggleOnTrue(new balonL3(elevateur));


            /* Manette 2 */
    //requin
    manette2.rightBumper().whileTrue(new BalayeuseAlgue(requin,bougie));
    manette2.leftBumper().whileTrue(new L1Requin(requin, bougie));
    manette2.rightTrigger().whileTrue(new BalayeuseHaut(requin));
    manette2.leftTrigger().whileTrue(new BalayeuseCoral(requin, bougie));
    manette2.y().whileTrue(new exspire(requin, bougie));
    manette2.x().whileTrue(new ExpireCorail(requin, bougie));

    //limelight
    manette2.a().whileTrue(new Forme3(limelight3,drivetrain,manette1::getLeftX,manette1::getLeftY));
    manette2.b().whileTrue(new AprilTag3(limelight3, drivetrain, manette1::getLeftX, manette1::getLeftY));
    
     //Pince manuel
     pince.setDefaultCommand(new RunCommand(()->{
      pince.pivote(MathUtil.applyDeadband((manette2.getRightY()*manette2.getRightY()*manette2.getRightY())/3, 0.05));
    }, pince));

    //Elevateur manuel
    elevateur.setDefaultCommand(new RunCommand(()->{
      elevateur.vitesse(MathUtil.applyDeadband(manette2.getLeftY()*manette2.getLeftY()*manette2.getLeftY(), 0.05));
    }, elevateur));

    //Reset encodeur
    manette2.start().whileTrue(new reset(elevateur, pince, requin));
  }
    
    public Command getAutonomousCommand() {
      return new SequentialCommandGroup(
        drivetrain.applyRequest(()->
        drive.withVelocityX(-0.1*MaxSpeed)
       .withVelocityY(0)
       .withRotationalRate(0)).unless(()->!Reculer.getBoolean(true)).withTimeout(3),
      drivetrain.applyRequest(()->
      drive.withVelocityX(0.5*MaxSpeed)
     .withVelocityY(0)
     .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(3),
     drivetrain.applyRequest(()->
     drive.withVelocityX(-0.5*MaxSpeed)
    .withVelocityY(0)
    .withRotationalRate(0)).unless(()->!sortirAngle.getBoolean(true)).withTimeout(2),
       drivetrain.applyRequest(()->
        drive.withVelocityX(0)
       .withVelocityY(0)
       .withRotationalRate(0)).withTimeout(0.1),
        new L4(elevateur, pince).unless(()->!L4.getBoolean(true)).withTimeout(4),
        drivetrain.applyRequest(()->
        drive.withVelocityX(0.2*MaxSpeed)
       .withVelocityY(0)
       .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(0.5),
       drivetrain.applyRequest(()->
       drive.withVelocityX(0*MaxSpeed)
      .withVelocityY(0)
      .withRotationalRate(0)).unless(()->!L4.getBoolean(true)).withTimeout(2),
        new CoralExpire(pince, bougie).unless(()->!L4.getBoolean(true)).withTimeout(2),
        new L1Requin(requin, bougie).unless(()-> !L1.getBoolean(true)).withTimeout(2),
        new ExpireCorail(requin, bougie).unless(()->!L1.getBoolean(true)).withTimeout(2),
        new RainBow(bougie));
    }    
}