#!/usr/bin/env python

import numpy as np
from WheeledRobot import AckermanRobotEnv

# AckermanRobot kinematics
r = 0.1

# wheel equations function
def J(dX_R):
    """Transform desired robot velocities to control inputs"""
    U = ...
    return U

def controller_ackerman(t, X_I, dX_I):
    # example controller outputs
    radius = 2; period = 10
    dX_R_des = np.array([[2*np.pi*radius/period],[0],[2*np.pi/period]])
    #dX_R_des = np.array([[1],[0],[0]])
    #dX_R_des = np.array([[0],[1],[0]])
    #dX_R_des = np.array([[0],[0],[1]])

    U = J(dX_R_des)
    return U

def run_simulation():
    """Run simulation using Gymnasium environment"""
    env = AckermanRobotEnv(render_mode="human")
    observation, _ = env.reset()
    
    print("Starting Ackermann Robot Simulation")
    print("Controller: Circular motion")
    
    for step in range(200):
        # Extract controller inputs from observation
        time = observation[6]                    # Current time
        X_I = observation[:3].reshape(-1, 1)     # State [x, y, theta]
        dX_I = observation[3:6].reshape(-1, 1)   # Derivatives [dx, dy, dtheta]
        
        # Call original controller
        U = controller_ackerman(time, X_I, dX_I)
        
        # Step environment
        observation, reward, terminated, truncated, _ = env.step(U.flatten())
        
        # Render the environment
        env.render()
        
        if terminated or truncated:
            print(f"Simulation ended at step {step}")
            break
    
    input("Press Enter to close the simulation window...")
    env.close()
    print("Simulation completed")

if __name__ == "__main__":
    run_simulation()