"""pod_bridge —— 光电吊舱 ↔ PX4 飞控 协议桥接（规格：docs/光电吊舱控制协议G版-PB.docx）。

吊舱自带 CPU 完成目标解算；本包只做双向搬运 + 格式转换：
  PX4 遥测(姿态/经纬度/时间) → 表3(EB 91) 串口下发吊舱
  吊舱 表4(EE 18) 目标经纬度 + 表2-2(EE 16) 遥测 → offboard 速度设定点驱动 PX4 朝目标飞行

当前含纯协议编解码层 protocol（四帧 encode/decode + FrameParser）、地理位置
引导律 guidance（载机位置 + 目标经纬度 → offboard 速度/航向）、配置 config
（BridgeConfig + load_from_json）、飞控侧网关 px4_gateway（读 PX4 遥测 +
复用 MavsdkCommandGateway 发 offboard 指令）、吊舱侧串口 pod_serial（PodSerial
+ PodLink 接口）、闭环主循环 bridge（PodBridge）；均可 mock 单测，无硬件依赖。
"""

from .bridge import PodBridge
from .config import (
    BridgeConfig,
    LinkConfig,
    PodSerialConfig,
    Px4Config,
    load_from_json,
)
from .guidance import (
    GuidanceConfig,
    GuidanceInput,
    GuidanceLaw,
    haversine_distance_m,
    initial_bearing_deg,
)
from .pod_serial import PodLink, PodSerial
from .protocol import (
    ALT_SCALE,
    ANGLE_SCALE,
    ATTITUDE_LEN,
    CONTROL_LEN,
    CarrierAttitude,
    ControlCode,
    ControlCommand,
    FrameParser,
    LATLON_SCALE,
    RANGE_SCALE,
    RATE_SCALE,
    SPEED_SCALE,
    SYNC_ATTITUDE,
    SYNC_CONTROL,
    SYNC_TARGET,
    SYNC_TELEMETRY,
    TARGET_LEN,
    TELEMETRY_LEN,
    Telemetry,
    TargetGeo,
    checksum,
    decode_attitude,
    decode_control,
    decode_target,
    decode_telemetry,
    encode_attitude,
    encode_control,
    encode_target,
    encode_telemetry,
)
from .px4_gateway import OwnState, Px4Gateway

__all__ = [
    "ALT_SCALE",
    "ANGLE_SCALE",
    "ATTITUDE_LEN",
    "BridgeConfig",
    "CONTROL_LEN",
    "CarrierAttitude",
    "ControlCode",
    "ControlCommand",
    "FrameParser",
    "GuidanceConfig",
    "GuidanceInput",
    "GuidanceLaw",
    "LATLON_SCALE",
    "LinkConfig",
    "OwnState",
    "PodBridge",
    "PodLink",
    "PodSerial",
    "PodSerialConfig",
    "Px4Config",
    "Px4Gateway",
    "RANGE_SCALE",
    "RATE_SCALE",
    "SPEED_SCALE",
    "SYNC_ATTITUDE",
    "SYNC_CONTROL",
    "SYNC_TARGET",
    "SYNC_TELEMETRY",
    "TARGET_LEN",
    "TELEMETRY_LEN",
    "Telemetry",
    "TargetGeo",
    "checksum",
    "decode_attitude",
    "decode_control",
    "decode_target",
    "decode_telemetry",
    "encode_attitude",
    "encode_control",
    "encode_target",
    "encode_telemetry",
    "haversine_distance_m",
    "initial_bearing_deg",
    "load_from_json",
]