/*

v01 dated 12/20/2020

This FTC myBlocks example allows the Blocks user to modify the Telemetry
refresh rate from the standard 4 cycles per second (4 Hz or 250 ms interval).
A lower time interval can allow faster update of sensor or encoder data.
A higher interval can ease the RC-DS communication bandwidth load.

This feature is not available with regular Blocks, in FTC app version 6.1.

For more controls, click Telemetry in the left side column here:
https://first-tech-challenge.github.io/FtcRobotController/6.0.1/RobotCore/index.html

The top-level API Documentation for the FTC SDK is here:
https://first-tech-challenge.github.io/FtcRobotController/


v02 dated 12/20/2020

Add myBlock "telemetryAction" to allow cycle testing.

*/

package org.firstinspires.ftc.teamcode;

import org.firstinspires.ftc.robotcore.external.BlocksOpModeCompanion;
import org.firstinspires.ftc.robotcore.external.ExportToBlocks;

public class W_myBlocks_Telemetry_v02 extends BlocksOpModeCompanion {

    // This Annotation must appear immediately before any myBlock method.
    // Optional to add a comment, tooltip, and/or parameterLabels.
    // Comment must be a single text line, concatenation (+) allowed.
    @ExportToBlocks (
    comment = "Sets Telemetry refresh rate or interval, which resets to " +
    "default 250 ms every time OpMode runs.  Optional: add pause in Blocks " +
    "to view confirming message.",
    tooltip = "Set Telemetry refresh interval",
    parameterLabels = {"Refresh interval (milliseconds)"}
    )
    // This myBlock method has 1 input and no outputs (keyword void).
    public static void setTelemetryRate (int myRate) {

        // Get and store the existing (default) minimum interval between
        // Telemetry transmissions from Robot Controller to Driver Station.
        int oldRate = telemetry.getMsTransmissionInterval();

        // Set the minimum interval, provided by the Blocks user.
        telemetry.setMsTransmissionInterval(myRate);

        // For confirmation, get and store the updated interval.
        int newRate = telemetry.getMsTransmissionInterval();

        telemetry.addData("TELEMETRY REFRESH RATE in milliseconds", null);
        telemetry.addData("Default/previous rate", oldRate);
        telemetry.addData("Requested rate", myRate);
        telemetry.addData("Confirmed new rate", newRate);
        telemetry.update();         // display info on Driver Station screen

    }   // end of method setTelemetryRate()



    // initialize toggle indicating end of current Telemetry interval
    static boolean readyToBroadcast = false;
 
   @ExportToBlocks (
    comment = "At each scheduled Telemetry update, return value 1 " +
              "to increment counter.  Otherwise return 0.",
    tooltip = "Action before Telemetry update"
    )
    // This myBlock method has no inputs and one output of type int (integer).
    public static int telemetryAction() {

        // Create a named list of actions to be run when specified.
        Runnable myActions = new Runnable()  {
            @Override
            public void run()  {
                // one action here, could be a list
                readyToBroadcast = true;        // toggle: end of interval
            }
        };
    
        // The method addAction() runs the indicated action list only if
        // the Telemetry interval (of the Blocks OpMode) has elapsed.
        telemetry.addAction (myActions);    

        if (readyToBroadcast) {             // Telemetry interval has elapsed
            readyToBroadcast = false;       // reset the interval toggle
            return 1;                       // send a 1 for cycle counter
        }
        else return 0;                      // send 0 if interval not elapsed

    }   // end of method telemetryAction()

}   // end of class W_myBlocks_Telemetry_v02