package org.firstinspires.ftc.teamcode;

import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

import org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackable;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackableDefaultListener;
import org.firstinspires.ftc.robotcore.external.navigation.VuforiaTrackables;

@Autonomous(name = "Vuforia")
public class Vuforia extends LinearOpMode
{
    VuforiaLocalizer vuforiaLocalizer;
    VuforiaLocalizer.Parameters parameters;
    VuforiaTrackables visiontargets;
    VuforiaTrackable target;
    VuforiaTrackableDefaultListener listener;

    OpenGLMatrix lastKnownLocation;
    OpenGLMatrix phoneLocation;

    public static final String VUFORIA_KEY = "AZdKRPL/////AAAAGdWHky5ZjET7mNUJ+qxkIDtvddP9PIXKwsMwBNDXV0SrsOuioPqAv1q7EB2k1QqsJd3eIb8WIXmHt4fxm153DMq6AEpg0L8nuqQuMmzxL9nFfM2ubV6PVSoZcdQqPOwtLpJqk4KUjKc8v0Es0M0aZl7R8a+jyzDiobaKVE9+4EY1dKuRPTB1OYCqCKfn1OkULrWxH6zSzwyf6ztPp6cKFn+oaglcxzX9iOhejsX4CsoAg4X/6HLnWWrux1Z4hfVP2EKanjrXqeSm5iursV0Lu+HRKMvo9VbIzGnit7JDusQsI7JVEpVsRnR39GaTJT1W1jijOVaw7VVkCt/7D9U+z5JcjgzOoug+Mye9H6n020MW";

    public void runOpMode() throws InterruptedException
    {



        waitForStart();

        while(opModeIsActive())
        {


            telemetry.update();
            idle();
        }
    }

    public void setupVuforia()
    {
        parameters = new VuforiaLocalizer.Parameters(R.id.cameraMonitorViewId);
        parameters.vuforiaLicenseKey = VUFORIA_KEY;
        parameters.cameraDirection = VuforiaLocalizer.CameraDirection.BACK;


    }


}

@@ -207,29 +207,377 @@
 nal.
-matrices.OpenGLMatrix
+ClassFactory;%0Aimport org.firstinspires.ftc.robotcore.external.matrices.OpenGLMatrix;%0Aimport org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;%0Aimport org.firstinspires.ftc.robotcore.external.navigation.AxesOrder;%0Aimport org.firstinspires.ftc.robotcore.external.navigation.AxesReference;%0Aimport org.firstinspires.ftc.robotcore.external.navigation.Orientation
 ;%0Aim
@@ -1734,395 +1734,1816 @@
   %7B%0A
-%0A%0A%0A        waitForStart();%0A%0A        while(opModeIsActive())%0A        %7B%0A%0A%0A            telemetry.update();%0A            idle();%0A        %7D%0A    %7D%0A%0A    public void setupVuforia()%0A    %7B%0A        parameters = new VuforiaLocalizer.Parameters(R.id.cameraMonitorViewId);%0A        parameters.vuforiaLicenseKey = VUFORIA_KEY;%0A        parameters.cameraDirection = VuforiaLocalizer.CameraDirection.BACK;%0A%0A
+        setupVuforia();%0A%0A        lastKnownLocation = createMatrix(0, 0, 0, 0, 0, 0);%0A%0A        waitForStart();%0A%0A        visiontargets.activate();%0A%0A        while(opModeIsActive())%0A        %7B%0A            OpenGLMatrix latestLocation = listener.getUpdatedRobotLocation();%0A%0A            if(latestLocation != null)%0A            %7B%0A                lastKnownLocation = latestLocation;%0A            %7D%0A%0A            telemetry.addData(%22Tracking %22 + target.getName(), listener.isVisible());%0A            telemetry.addData(%22Last Known Location%22, formatMatrix(lastKnownLocation));%0A%0A            telemetry.update();%0A            idle();%0A        %7D%0A    %7D%0A%0A    public void setupVuforia()%0A    %7B%0A        parameters = new VuforiaLocalizer.Parameters(R.id.cameraMonitorViewId);%0A        parameters.vuforiaLicenseKey = VUFORIA_KEY;%0A        parameters.cameraDirection = VuforiaLocalizer.CameraDirection.BACK;%0A        vuforiaLocalizer = ClassFactory.createVuforiaLocalizer(parameters);%0A%0A        visiontargets = vuforiaLocalizer.loadTrackablesFromAsset(%22FTC_2016-17%22);%0A%0A        target = visiontargets.get(0);%0A        target.setName(%22Wheels Targte%22);%0A        target.setLocation(createMatrix(0, 500, 0, 90, 0, 90));%0A%0A        phoneLocation = createMatrix(0, 225, 0, 90, 0, 0);%0A%0A        listener = (VuforiaTrackableDefaultListener) target.getListener();%0A        listener.setPhoneInformation(phoneLocation, parameters.cameraDirection);%0A    %7D%0A%0A    public OpenGLMatrix createMatrix(float x, float y, float z, float u, float v, float w)%0A    %7B%0A        return OpenGLMatrix.translation(x, y, z).%0A                multiplied(Orientation.getRotationMatrix(%0A                        AxesReference.EXTRINSIC, AxesOrder.XYX, AngleUnit.DEGREES, u, v, w));%0A%0A    %7D%0A%0A    public String formatMatrix(OpenGLMatrix matrix)%0A    %7B%0A        return matrix.formatAsTransform();
 %0A   

updtaded vuforia, need to test if works