import cv2
import os
import sys
import numpy as np

# 添加正确的项目路径
current_dir = os.path.dirname(os.path.abspath(__file__))
project_root = os.path.abspath(os.path.join(current_dir))
if os.path.exists(os.path.join(project_root, "task")):
    sys.path.append(project_root)
else:
    # 如果已经在task目录中
    parent_dir = os.path.dirname(project_root)
    sys.path.append(parent_dir)

# 创建简化的日志函数以避免依赖
def info(msg, tag="INFO"):
    print(f"[{tag}] {msg}")

def debug(msg, tag="DEBUG"):
    print(f"[{tag}] {msg}")

def warning(msg, tag="WARNING"):
    print(f"[{tag}] {msg}")

def error(msg, tag="ERROR"):
    print(f"[{tag}] {msg}")

def success(msg, tag="SUCCESS"):
    print(f"[{tag}] {msg}")

def timing(msg, tag="TIMING"):
    print(f"[{tag}] {msg}")

def section(msg):
    print(f"\n{'='*10} {msg} {'='*10}\n")

# 修补utils.log_helper模块
sys.modules['utils.log_helper'] = type('MockLogHelper', (), {
    'LogHelper': type('MockLogHelperClass', (), {}),
    'get_logger': lambda: None,
    'info': info,
    'debug': debug,
    'warning': warning,
    'error': error,
    'success': success,
    'timing': timing,
    'section': section
})

# 直接导入检测函数
try:
    from task.utils.detect_dual_track_lines import detect_dual_track_lines
except ImportError:
    # 如果task.utils导入失败，尝试直接从utils导入
    sys.path.append(os.path.join(project_root, "task"))
    from utils.detect_dual_track_lines import detect_dual_track_lines

def test_track_detection(image_path, observe=True, save_log=True):
    """
    测试轨道线检测函数
    
    参数:
    image_path: 图像路径
    observe: 是否显示可视化结果
    save_log: 是否保存日志
    """
    print(f"测试图像: {os.path.basename(image_path)}")
    
    # 默认模式检测
    print("- 默认模式检测:")
    center_info, left_track, right_track = detect_dual_track_lines(
        image_path, 
        observe=observe, 
        delay=0 if observe else 1,  # 如果观察模式，等待按键，否则1ms
        save_log=save_log,
        stone_path_mode=False
    )
    
    if center_info:
        print(f"  中心点: {center_info['point']}")
        print(f"  偏差: {center_info['deviation']:.2f}")
        print(f"  轨道宽度: {center_info['track_width']:.2f}")
    else:
        print("  检测失败")
    
    # 石板路模式检测
    print("- 石板路模式检测:")
    center_info, left_track, right_track = detect_dual_track_lines(
        image_path, 
        observe=observe, 
        delay=0 if observe else 1,
        save_log=save_log,
        stone_path_mode=True
    )
    
    if center_info:
        print(f"  中心点: {center_info['point']}")
        print(f"  偏差: {center_info['deviation']:.2f}")
        print(f"  轨道宽度: {center_info['track_width']:.2f}")
    else:
        print("  检测失败")
    
    print("\n" + "-"*50 + "\n")

if __name__ == "__main__":
    # 设置观察模式和保存日志
    observe = False
    save_log = True
    
    if len(sys.argv) > 1:
        # 如果提供了图像路径，只测试该图像
        image_path = sys.argv[1]
        test_track_detection(image_path, observe, save_log)
    else:
        # 否则测试logs/image目录下的所有原始图像
        image_dir = "logs/image"
        if not os.path.exists(image_dir):
            image_dir = "task/logs/image"
        
        orig_images = [f for f in os.listdir(image_dir) if f.startswith("dual_track_orig_")]
        
        if not orig_images:
            print(f"未找到原始图像文件在 {image_dir} 目录下")
            sys.exit(1)
        
        for img_file in orig_images:
            img_path = os.path.join(image_dir, img_file)
            test_track_detection(img_path, observe, save_log)
            
            # 如果是观察模式，每张图片测试后等待按键
            if observe:
                print("按任意键继续下一张图片测试...")
                cv2.waitKey(0)
        
    # 如果有打开的窗口，关闭它们
    if observe:
        cv2.destroyAllWindows()