# main.py - 主业务逻辑（人脸跟踪、舵机控制、LED）
from maix import camera, display, image, nn, app, sys
from maix import uart, pinmap, time, err, gpio
from maix import app, nn
import traceback
from config import *
from test_ball import *

# ------------------------------
# 系统初始化
# ------------------------------
def init_system():
    """初始化相机、舵机、串口、LED"""
    global serial_dev  # 声明使用全局serial_dev

    init_led()
    
    # 人脸检测器
    detector = nn.YOLOv8(model="/root/models/yolov8n_face.mud", dual_buff=True)
    img_width = detector.input_width()
    img_height = detector.input_height()
    print(f"[系统] 图像尺寸: {img_width}x{img_height}")
    image_center = (img_width // 2, img_height // 2)
    
    # 相机/显示器
    cam = camera.Camera(img_width, img_height, detector.input_format())
    disp = display.Display()
    
    # 串口（舵机）
    pin_function = {"A19": "UART1_TX", "A18": "UART1_RX"}
    device = "/dev/ttyS1"
    for pin, func in pin_function.items():
        err.check_raise(pinmap.set_pin_function(pin, func), 
                      f"Failed set pin{pin} function to {func}")
    serial_dev = uart.UART(device, 115200)
    
    # 初始化值 距离中间点像素距离
    initial_cmd = f"DX:0,DY:0;"
    serial_dev.write_str(initial_cmd)
    print(f"[舵机] 初始角度: {initial_cmd}")
    time.sleep(1)
    
    return {
        "detector": detector, "cam": cam, "disp": disp, "serial_dev": serial_dev,
        "img_width": img_width, "img_height": img_height, "image_center": image_center
    }


# ------------------------------
# 系统执行
# ------------------------------

try:
    # 初始化系统资源
    system_resources = init_system()

    update_led()
    
    # 进入主循环
    trace_ball_main(system_resources)

except Exception as e:
    print(f"[异常] 程序异常: {e}")
    traceback.print_exc()