import numpy as np
import cv2
import time
import torch
from . import detect_api as detect
from . import deep_sort as ds


# # 系统状态定义
# GLB_STATUS = {
#     "GLB_STATUS_UNKOWN": 0,
#     "GLB_STATUS_WAIT": 1,
#     "GLB_STATUS_SEARCH": 2,
#     "GLB_STATUS_TRACK": 3,
#     "GLB_STATUS_SCAN": 4,
#     "GLB_STATUS_LOST": 5,
#     "GLB_STATUS_FSCAN": 6,
#     "GLB_STATUS_LOCK": 7,
#     "GLB_STATUS_LOCKFAILED": 8,
#     "GLB_STATUS_MOTRACK": 9,
#     "GLB_STATUS_AIM": 10,
# }

# # 锁定模式
# LockMode = {
#     "LOCK_NONE": 0,
#     "LOCK_AUTO": 10,
#     "LOCK_POINT": 21,
#     "LOCK_RECT": 22,
#     "LOCK_UNLOCK": 3,
#     "LOCK_ID": 4,
# }



class EOController:
    def __init__(self):
        # 初始化检测器
        self.detector = detect.ObjectDetector(
            weights='./ArithControl/model/best_3class.pt', 
            imgsz=(1024, 1280))
        # deepsort
        self.ds = ds.DeepSort(
            './ArithControl/deep_sort/deep/checkpoint/ckpt.t7',
            enable_reid=True
        )

    def run(self,frame):
        detections = self.detector.detect(frame)
        
        if len(detections) > 0:
            # 转换为 torch.Tensor
            det_tensor = torch.tensor(detections, dtype=torch.float32)
            bbox_xywh = torch.column_stack([
                (det_tensor[:, 1:3] + det_tensor[:, 3:5])/2,  # x1, y1
                det_tensor[:, 3:5] - det_tensor[:, 1:3]  # w, h
            ])
            confidences = det_tensor[:, 5]  # conf
            clss = det_tensor[:, 0].long()  # cls
            
        # 调用一次 update 处理所有目标
        # 注意：deepsort输入使用中心宽高
        pipe_out = self.ds.update(bbox_xywh, confidences, clss, frame)
        
        # 返回管道
        return pipe_out
    
    
    # 解析指令
    def parse_cmd(self, cmd):
        if cmd.mode == 'LockMode':
            self.ds.lock_point(cmd.point)
        elif cmd.mode == 'Lock_RECT':
            self.ds.lock_rect(cmd.rect)
        elif cmd.mode == 'Lock_ID':
            self.ds.lock_id(cmd.id)
        elif cmd.mode == 'Lock_UNLOCK':
            self.ds.lock_unlock()