# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from dataclasses import dataclass, field

from lerobot.common.cameras.configs import CameraConfig
from lerobot.common.cameras.opencv.configuration_opencv import OpenCVCameraConfig

from ..config import RobotConfig


@RobotConfig.register_subclass("lekiwi")
@dataclass
class LeKiwiConfig(RobotConfig):
    port = "/dev/ttyACM0"  # port to connect to the bus

    disable_torque_on_disconnect: bool = True

    # `max_relative_target` limits the magnitude of the relative positional target vector for safety purposes.
    # Set this to a positive scalar to have the same value for all motors, or a list that is the same length as
    # the number of motors in your follower arms.
    max_relative_target: int | None = None

    cameras: dict[str, CameraConfig] = field(
        default_factory=lambda: {
            "front": OpenCVCameraConfig(
                camera_index="/dev/video1", fps=30, width=640, height=480, rotation=90
            ),
            "wrist": OpenCVCameraConfig(
                camera_index="/dev/video4", fps=30, width=640, height=480, rotation=180
            ),
        }
    )


@RobotConfig.register_subclass("lekiwi_client")
@dataclass
class LeKiwiClientConfig(RobotConfig):
    # Network Configuration
    remote_ip: str = "172.18.129.208"
    port_zmq_cmd: int = 5555
    port_zmq_observations: int = 5556

    teleop_keys: dict[str, str] = field(
        default_factory=lambda: {
            # Movement
            "forward": "w",
            "backward": "s",
            "left": "a",
            "right": "d",
            "rotate_left": "z",
            "rotate_right": "x",
            # Speed control
            "speed_up": "r",
            "speed_down": "f",
            # quit teleop
            "quit": "q",
        }
    )