import time
import sys
import os

# 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 task_test.detect_arrow_direction import ArrowDetector
from base_move.turn_degree import turn_degree
from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing

# 创建本模块特定的日志记录器
logger = get_logger("任务5")

def run_task_5(ctrl, msg, image_processor=None):
    """
    执行任务5：检测箭头方向并转向
    
    参数:
        ctrl: Robot_Ctrl对象
        msg: 控制消息对象
        image_processor: 可选的图像处理器实例
    """
    section("任务5：箭头检测与转向", "启动")
    
    # 初始化箭头检测器
    info("初始化箭头检测器", "启动")
    arrow_detector = ArrowDetector(image_processor)
    
    # 获取箭头方向
    info("检测箭头方向", "检测")
    direction = arrow_detector.get_arrow_direction()
    
    if direction == "unknown":
        warning("无法确定箭头方向，默认旋转90度", "警告")
        turn_angle = 90
    else:
        turn_angle = 90 if direction == "right" else -90
        info(f"检测到{direction}箭头，将旋转{turn_angle}度", "旋转")
    
    # 执行旋转
    start_time = time.time()
    turn_result = turn_degree(ctrl, msg, turn_angle)
    elapsed = time.time() - start_time
    
    if turn_result:
        success(f"旋转{turn_angle}度成功，耗时{elapsed:.2f}秒", "完成")
    else:
        error(f"旋转{turn_angle}度失败", "失败")
    
    # 如果创建了新的检测器，需要销毁它
    if image_processor is None and hasattr(arrow_detector, 'destroy'):
        arrow_detector.destroy()
        
    return turn_result