import time
import sys
import os
import math

# 添加父目录到路径，以便能够导入utils
sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
from base_move.move_base_hori_line import move_to_hori_line, arc_turn_around_hori_line, align_to_horizontal_line
from utils.detect_track import detect_horizontal_track_edge
from base_move.move_base_hori_line import calculate_distance_to_line
from base_move.go_straight import go_straight

observe = False

def run_task_1(ctrl, msg):
    print('🐶 Running task 1...')

    # v2
    print('😺 task 1 - 1')
    # 在 arc_turn_around_hori_line 中启用 QR 码扫描
    turn_success, qr_result = arc_turn_around_hori_line(
        ctrl=ctrl,
        msg=msg,
        angle_deg=85,
        left=False,
        observe=observe,
        scan_qrcode=True,  # 启用 QR 码扫描
        qr_check_interval=0.3  # 每 0.3 秒检查一次扫描结果
    )
    
    if qr_result:
        print(f"🎯 在任务 1-1 中成功扫描到 QR 码: {qr_result}")
    else:
        print("⚠️ 任务 1-1 中未能扫描到任何 QR 码")

    print('😺 task 1 - 2')
    # 执行常规的移动操作，不需要 QR 码扫描
    move_to_hori_line(ctrl, msg, target_distance=1, observe=observe)

    print('😺 task 1 - 3')
    # direction = True if qr_result == 'A-1' else False
    # TODO
    turn_success = arc_turn_around_hori_line(
        ctrl=ctrl,
        msg=msg,
        angle_deg=170,
        target_distance=0.4,  # TODO 优化这里的参数
        left=False, # direction,
        pass_align=True,
        observe=observe,
        # TODO clear
        bad_big_angle_corret=True
    )

    print('😺 task 1 - 4')
    move_distance = 0.4
    go_straight(ctrl, msg, distance=move_distance, speed=0.5, observe=observe)
    # move_to_hori_line(ctrl, msg, target_distance=0.6, observe=observe)

    print('😺 task 1 - 5 休眠，模拟装货')
    ctrl.base_msg.lie_down(wait_time=3000)  # TODO 比赛时改成 5s

    # 站起来
    ctrl.base_msg.stand_up()

    print('😺 task 1 - 6 back')
    go_straight(ctrl, msg, distance=-move_distance + 0.1, speed=0.5, observe=observe)