// 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 java.util.Map;

import edu.wpi.first.cameraserver.CameraServer;
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.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;

//subsystems
import frc.robot.subsystems.BasePilotable;
import frc.robot.subsystems.Gratte;
import frc.robot.subsystems.bras.BrasTelescopique;
import frc.robot.subsystems.bras.Pince;
import frc.robot.subsystems.bras.Pivot;
import frc.robot.subsystems.Limelight;
import frc.robot.commands.Apriltag;
// command
import frc.robot.commands.BrakeFerme;
import frc.robot.commands.BrakeOuvre;
import frc.robot.commands.Cone;
import frc.robot.commands.Cube;
import frc.robot.commands.GratteBaisser;
import frc.robot.commands.GratteMonte;
import frc.robot.commands.Gyro;
import frc.robot.commands.Reculer;
import frc.robot.commands.Tape;
import frc.robot.commands.bras.FermePince;
import frc.robot.commands.bras.OuvrePince;
import frc.robot.commands.bras.PivotBrasRentre;
import frc.robot.commands.bras.PivotChercheBas;
import frc.robot.commands.bras.PivotChercheHaut;
import frc.robot.commands.bras.PivoteBrasBas;
import frc.robot.commands.bras.PivoteBrasHaut;
import frc.robot.commands.bras.PivoteBrasMilieux;


public class RobotContainer {
  
CommandXboxController manette1 = new CommandXboxController(0);
CommandXboxController manette2 = new CommandXboxController(1);

SendableChooser<String> chooser = new SendableChooser<>();
String enhaut = "en haut";
String aumilieux = "au milieux";
String enbas = "en bas";
String nulpart = "nul part";
ShuffleboardLayout layoutauto = Shuffleboard.getTab("teb").getLayout("auto",BuiltInLayouts.kList)
.withSize(2, 2).withProperties(Map.of("Label position","LEFT"));
GenericEntry autobalance = layoutauto.add("choix balance",true).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
GenericEntry autosortir = layoutauto.add("choix sortir",false).withWidget(BuiltInWidgets.kToggleSwitch).getEntry();
GenericEntry reculerdistances = layoutauto.addPersistent("reculerdistancesortir",0).getEntry();
GenericEntry reculerdistanceb = layoutauto.addPersistent("reculerdistancebalance", 0).getEntry();
GenericEntry avancerdistance = layoutauto.addPersistent("avancer",0).getEntry();
// subsystems
BasePilotable basePilotable = new BasePilotable();
Gratte gratte = new Gratte();
BrasTelescopique brasTelescopique = new BrasTelescopique();
Pince pince = new Pince();
Pivot pivot = new Pivot();
Limelight limelight = new Limelight();
//commands
BrakeFerme brakeFerme = new BrakeFerme(basePilotable);
BrakeOuvre brakeOuvre = new BrakeOuvre(basePilotable);
GratteBaisser gratteBaisser = new GratteBaisser(gratte);
GratteMonte gratteMonte = new GratteMonte(gratte);
Gyro gyro = new Gyro(basePilotable);
FermePince fermePince = new FermePince(pince);
OuvrePince ouvrePince = new OuvrePince(pince);
PivotBrasRentre pivotBrasRentre = new PivotBrasRentre(brasTelescopique, pivot);
PivoteBrasBas pivoteBrasBas = new PivoteBrasBas(brasTelescopique, pivot);
PivoteBrasMilieux pivoteBrasMilieux = new PivoteBrasMilieux(brasTelescopique, pivot);
PivoteBrasHaut pivoteBrasHaut = new PivoteBrasHaut(brasTelescopique, pivot);
Cone cone = new Cone(limelight, basePilotable, ()->-manette1.getLeftY());
Reculer reculers = new Reculer(basePilotable, ()->reculerdistances.getDouble(0));
Reculer reculerb = new Reculer(basePilotable, ()->reculerdistanceb.getDouble(0));
Avancer avancer = new Avancer(basePilotable, ()->avancerdistance.getDouble(0));
PivotChercheBas pivotChercheBas = new PivotChercheBas(brasTelescopique, pivot);
PivotChercheHaut pivotChercheHaut = new PivotChercheHaut(brasTelescopique, pivot);
Cube cube = new Cube(limelight, basePilotable, null);
Apriltag aprilTag = new Apriltag(limelight, basePilotable, null);
Tape tape = new Tape(limelight, basePilotable, null);



public RobotContainer() {
    chooser.setDefaultOption(enhaut, enhaut);
    chooser.addOption(enbas, enbas);
    chooser.addOption(aumilieux, aumilieux);
    chooser.addOption(nulpart, nulpart);
    layoutauto.add("choix hauteur",chooser);
    configureBindings();
    CameraServer.startAutomaticCapture();
    basePilotable.setDefaultCommand(new RunCommand(() -> {
      basePilotable.drive(-manette1.getLeftY(), manette1.getLeftX());
    }));
  }
  private void configureBindings() {
    // manette 1
    manette1.a().toggleOnTrue(Commands.startEnd(pince::ouvrir, pince::fermer,pince));
    manette1.x().toggleOnTrue(Commands.startEnd(basePilotable::BrakeFerme,basePilotable::BrakeOuvre,basePilotable));
    manette1.leftBumper().toggleOnTrue(aprilTag);
    manette1.rightBumper().toggleOnTrue(tape);
    manette1.povUp().onTrue(pivoteBrasHaut);
    manette1.povDown().onTrue(pivoteBrasBas);
    manette1.povRight().onTrue(pivoteBrasMilieux);
    manette1.povLeft().onTrue(pivotBrasRentre);
    //manette 2
    manette2.povRight().onTrue(pivotChercheBas);
    manette2.povLeft().onTrue(pivotChercheHaut);
    manette2.rightBumper().toggleOnTrue(cube);
    manette2.leftBumper().toggleOnTrue(cone);
    manette2.y().whileTrue(gyro);
    manette2.start().onTrue(new InstantCommand(basePilotable::resetGyro));
    manette2.b().onTrue(Commands.either(gratteBaisser, gratteMonte, gratte::getenHaut));
  }

  public Command getAutonomousCommand() {
    chooser.getSelected();
    autobalance.getBoolean(true);
    return new SequentialCommandGroup(
      Commands.select(Map.ofEntries(
        Map.entry(enhaut,pivoteBrasHaut),
        Map.entry(aumilieux,pivoteBrasMilieux),
        Map.entry(enbas,pivoteBrasBas),
        Map.entry(nulpart,pivotBrasRentre)
      ), chooser::getSelected),
      ouvrePince.unless(()->chooser.getSelected().equals(nulpart)),
      Commands.either(reculers, reculerb,()-> autosortir.getBoolean(true)),
      avancer.unless(()->!autosortir.getBoolean(true)|| !autobalance.getBoolean(false)),
      Commands.either(gyro, Commands.none(),()-> autobalance.getBoolean(true))
    ).deadlineWith(Commands.waitSeconds(14)).andThen(brakeOuvre);


  }
}