# 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
from lerobot.cameras.configs import CameraConfig, ColorMode, Cv2Rotation


@CameraConfig.register_subclass("uf::umi_camera")
@dataclass
class UmiCameraConfig(CameraConfig):
    serial_number: str
    color_mode: ColorMode = ColorMode.RGB
    use_depth: bool = False
    rotation: Cv2Rotation = Cv2Rotation.NO_ROTATION
    warmup_s: int = 1

    def __post_init__(self) -> None:
        if self.color_mode not in (ColorMode.RGB, ColorMode.BGR):
            raise ValueError(
                f"`color_mode` is expected to be {ColorMode.RGB.value} or {ColorMode.BGR.value}, but {self.color_mode} is provided."
            )

        if self.rotation not in (
            Cv2Rotation.NO_ROTATION,
            Cv2Rotation.ROTATE_90,
            Cv2Rotation.ROTATE_180,
            Cv2Rotation.ROTATE_270,
        ):
            raise ValueError(
                f"`rotation` is expected to be in {(Cv2Rotation.NO_ROTATION, Cv2Rotation.ROTATE_90, Cv2Rotation.ROTATE_180, Cv2Rotation.ROTATE_270)}, but {self.rotation} is provided."
            )

        values = (self.fps, self.width, self.height)
        if any(v is not None for v in values) and any(v is None for v in values):
            raise ValueError(
                "For `fps`, `width` and `height`, either all of them need to be set, or none of them."
            )
