# core/state.py
class SystemState:
    def __init__(self):
        # 系统运行状态
        self.running = False

        # 下料控制相关
        self.upper_door_position = 'default'  # default(在搅拌楼下接料), over_lower(在下料斗上方), returning(返回中)
        self.lower_feeding_stage = 0  # 0:未下料, 1:第一阶段, 2:第二阶段, 3:第三阶段, 4:等待模具车对齐
        self.lower_feeding_cycle = 0  # 下料斗下料循环次数
        self.upper_feeding_count = 0  # 上料斗已下料次数
        self.upper_feeding_max = 2 #上料斗最大下料次数

        # 重量相关
        self.last_upper_weight = 0
        self.last_lower_weight = 0
        self.last_weight_time = 0

        # 错误计数
        self.upper_weight_error_count = 0
        self.lower_weight_error_count = 0

        # 视觉系统状态
        self.angle_control_mode = "normal"  # 角度控制模式: normal, reducing, maintaining, recovery
        self.overflow_detected = False  # 堆料检测
        self.door_opening_large = False  # 夹角
        self.vehicle_aligned = False  # 模具车是否对齐
        self.last_angle = None  # 上次检测角度