import sys
from pathlib import Path
import enum

project_root = Path(__file__).resolve().parents[3]
sys.path.insert(0, str(project_root))

# 键定义与映射
OBSTACLE_KEYS = ["f_l_obstacle", "f_r_obstacle", "b_l_obstacle", "b_r_obstacle"]
RAIL_KEYS = ["f_r_rail", "b_l_rail"]
TITLE2D_KEY = {"前2D": "front_2d", "后2D": "rear_2d"}
MAPPING = {
    "前左避障": "f_l_obstacle",
    "前右避障": "f_r_obstacle",
    "后左避障": "b_l_obstacle",
    "后右避障": "b_r_obstacle",
    "前右上轨": "f_r_rail",
    "后左上轨": "b_l_rail",
}

CAMERA_3D_CFGS = project_root / "hirres_tractor_vision/config/camera_sn.json"

CAMERA_2D_CFFS = project_root / "hirres_tractor_vision/config/2d_camera.json"

# TODO: TCP服务器配置
HOST = "0.0.0.0"
PORT = 65444

# TODO: 帧率控制配置
PERIOD = 1
PERIOD = 0.05


class VisionMode(enum.Enum):
    OBSTACLE_DETECTION = 1  # 前后四个3d相机开启障碍识别 测距
    FRONT_2D_DETECTION = 2  # 前面开始2d检测相机 后面依然是距离检测
    REAR_2D_DETECTION = 3  # 与前者相反
    TRACK_INSPECTION = 4  # 轨道键测


class CameraControl(enum.Enum):
    DESTORY = 0
    CAPTURE = 1


DURATION_DEBUG = True

TRACK_DEBUG = True

OBSTACLE_DEBUG = True

FRONT_DEBUG = True

REAR_DEBUG = True