# main.py
import time
from config.settings import app_set_config
from core.system import FeedingControlSystem
from hardware import relay
from hardware.relay import RelayController
import threading
import time


def main():
    # 加载配置
    # 初始化系统

    # relay_c=RelayController()
    # self.relay_controller.control(self.relay_controller.DOOR_LOWER_OPEN, 'close')
    system = FeedingControlSystem()
    # system.relay_controller.control(system.relay_controller.DOOR_UPPER_OPEN, 'open')

    # system.relay_controller.control(system.relay_controller.DOOR_UPPER_CLOSE, 'close')
    system.relay_controller.control(system.relay_controller.DOOR_UPPER_OPEN, 'open')
    # system.relay_controller._close_upper_5s()

    # system.relay_controller.control(system.relay_controller.DOOR_UPPER_OPEN, 'open')
    # system.state.vehicle_aligned=True
    # system.state._upper_door_position='over_lower'
    # system.initialize()

    # system.state._feed_status=FeedStatus.FCheckM
    while True:
        time.sleep(2)

    # system.camera_controller.start_cameras()
    # loc_all_close=True
    # if loc_all_close:
    #     relay=RelayController()
    #     relay.control(relay.UPPER_TO_JBL, 'close')
    #     relay.control(relay.UPPER_TO_ZD, 'close')
    #     relay.control(relay.DOOR_LOWER_OPEN, 'close')
    #     relay.control(relay.DOOR_LOWER_CLOSE, 'close')
    #     relay.control(relay.DOOR_UPPER_OPEN, 'close')
    #     relay.control(relay.DOOR_UPPER_CLOSE, 'close')
    #     relay.control(relay.BREAK_ARCH_UPPER, 'close')
    #     relay.control(relay.BREAK_ARCH_LOWER, 'close')

    
    # time.sleep(2)
    # system._alignment_check_loop()
    # system.relay_controller.control(system.relay_controller.DOOR_LOWER_OPEN, 'open')
    # time.sleep(2)
    # system.relay_controller.control(system.relay_controller.DOOR_UPPER_OPEN, 'close')

    # time.sleep(2)
    # system.relay_controller.control(system.relay_controller.DOOR_LOWER_CLOSE, 'open')
    # time.sleep(2)
    # system.relay_controller.control(system.relay_controller.DOOR_UPPER_CLOSE, 'close')
    
    # system.relay_controller.control(system.relay_controller.DOOR_LOWER_CLOSE, 'open')
    # time.sleep(5)
    # system.relay_controller.control(system.relay_controller.DOOR_LOWER_CLOSE, 'close')
    # system._visual_control_loop()
    # system.transmitter_controller.test_upper_weight=2*2500
    # system.transmitter_controller.test_lower_weight=1000
    # system.state.vehicle_aligned=True   
    #     # 启动调整线程
    # weight_thread = threading.Thread(target=adjust_weights, args=(system,), daemon=True)
   
    # weight_thread.start()
    # system.state._upper_door_position='over_lower'
    # system._start_lower_feeding()
    

 
if __name__ == "__main__":
    main()