#!/usr/bin/env python

# Copyright 2025 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
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# Strictly following dual_piper.py - only keep minimal config

from dataclasses import dataclass, field

from lerobot.cameras import CameraConfig

from ..config import RobotConfig


@RobotConfig.register_subclass("piper_follower")
@dataclass
class PIPERFollowerConfig(RobotConfig):
    # Piper uses CAN; no serial port is required.
    # Keep an optional field for compatibility; it will be ignored if provided.
    port: str | None = None

    # CAN interface name to open (e.g. "can0" or custom name)
    # Following dual_piper.py: only can_name is needed
    can_name: str = "can_follower"

    # Optional limit on relative joint movement for safety
    max_relative_target: float | dict[str, float] | None = None

    # cameras
    cameras: dict[str, CameraConfig] = field(default_factory=dict)


