"""
配置文件 - 所有可配置参数集中管理
"""
import os

# 基础路径（部署后对应 ~/work/agv_app）
BASE_DIR = os.path.dirname(os.path.abspath(__file__))

# ========== 网络配置（集中管理所有 IP 地址 — 修改此处即可全局生效）==========
AGV_HOST = "192.168.60.80"
ARM_HOST = "192.168.60.120"

# ========== AGV 参数 ==========
AGV_CONFIG = {
    "device": "/dev/agvpro_controller",
    "baudrate": 10000000,
    "move_speed": 1.0,
    "turn_speed": 1.0,
}

# ========== 机械臂 TCP 客户端 ==========
ARM_CONFIG = {
    "host": ARM_HOST,
    "port": 5002,
    "timeout": 8,
    "retry_times": 3,
    "retry_interval": 1,
}

# ========== 地图 ==========
MAP_CONFIG = {
    "map_dir": "/home/elephant/agv_pro_ros2/src/agv_pro_navigation2/map/",
    "map_file": "map.yaml",
}

# ========== 摄像头 ==========
CAMERA_CONFIG = {
    "device_index": 4,       # AGV 摄像头 video4（Orbbec Gemini 彩色流，YUYV 640x480）
    "backend": "v4l2",         # 使用 V4L2 后端获取标准彩色格式（640x480）
    "qr_detect_interval": 0.5,
    "capture_delay": 0.5,
}

# ========== 机械臂摄像头流 ==========
ARM_CAMERA_CONFIG = {
    "url": f"http://{ARM_HOST}:5003/api/camera/preview",
    "snapshot_url": f"http://{ARM_HOST}:5003/api/camera/snapshot",
}

# ========== HTTP 上传 ==========
UPLOAD_CONFIG = {
    "url": "https://ts.zhijian168.com/prod-api/file/uploadImage",
    "timeout": 30,
    "max_retries": 3,
}

# ========== Flask 服务器 ==========
SERVER_CONFIG = {
    "host": "0.0.0.0",
    "port": 5000,
    "secret_key": "agv630_secret_key_2024",
    "debug": False,
}

# ========== 任务配置存储路径 ==========
DATA_DIR = os.path.join(BASE_DIR, "data")
os.makedirs(DATA_DIR, exist_ok=True)

# ========== 关节角度范围限制 ==========
JOINT_LIMITS = {
    "J1": (-180.0, 180.0),
    "J2": (-270.0, 90.0),
    "J3": (-150.0, 150.0),
    "J4": (-260.0, 80.0),
    "J5": (-168.0, 168.0),
    "J6": (-174.0, 174.0),
}

# ========== 机械臂默认速度 ==========
DEFAULT_ARM_SPEED = 1000

# ========== 状态定义 ==========
class State:
    SETTING = "setting"
    RUNNING = "running"
    PAUSED = "paused"
    IDLE = "idle"

class PhotoType:
    FRONT = "front"
    BACK = "back"
    NAMEPLATE = "nameplate"