"""视觉跟踪控制包（visual_track_control Python 版）。

对应 C++ 参考实现 reference-c++/visual_track_control/。本包与 target_tracker
包互不依赖（TrackState 为字段对齐的独立值类型，胶水层负责转换）。

分层：
  纯算法构件   rate_limiter / staleness_checker / line_of_sight /
               frame_transform / pid_controller
  配置         config（TrackingConfig + load_from_json）
  主控律       tracking_control_law（TrackingControlLaw）
  指令输出     command_sender（抽象 Protocol）+ mavsdk_gateway（MAVSDK offboard）
"""

from .command_sender import CommandSender
from .config import (AccelLimitConfig, CameraGroupConfig, ControlGroupConfig,
                     DistanceGroupConfig, HeadingGroupConfig, HeadingMode,
                     NoDistanceAction, TrackingConfig, VerticalGroupConfig,
                     load_from_json)
from .frame_transform import rotate_body_to_ned
from .line_of_sight import PixelToAngle
from .mavsdk_gateway import MavsdkCommandGateway
from .pid_controller import PidController, PidParams
from .rate_limiter import SlewRateLimiter, clamp
from .staleness_checker import is_stale
from .tracking_control_law import TrackingControlLaw
from .types import (ControlMode, ControlOutput, ControlSnapshot, DegradedReason,
                    TrackState)

__all__ = [
    "CommandSender",
    "MavsdkCommandGateway",
    "TrackingControlLaw",
    "TrackingConfig",
    "load_from_json",
    "HeadingMode",
    "NoDistanceAction",
    "ControlGroupConfig",
    "CameraGroupConfig",
    "HeadingGroupConfig",
    "VerticalGroupConfig",
    "DistanceGroupConfig",
    "AccelLimitConfig",
    "ControlMode",
    "DegradedReason",
    "TrackState",
    "ControlSnapshot",
    "ControlOutput",
    "PidController",
    "PidParams",
    "SlewRateLimiter",
    "clamp",
    "is_stale",
    "PixelToAngle",
    "rotate_body_to_ned",
]