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import numpy as np
from pyrep.objects.shape import Shape
from pyrep.objects.proximity_sensor import ProximitySensor

from env import setup_environment, shutdown_environment

from skill_code import *

from video import init_video_writers, recording_step, recording_get_observation

from object_positions import get_object_positions


def run_skeleton_task():
    '''Generic skeleton for running any task in your simulation.'''
    print("===== Starting Skeleton Task =====")
    
    # === Environment Setup ===
    env, task = setup_environment()
    try:
        # Reset the task to its initial state
        descriptions, obs = task.reset()

        # (Optional) Initialize video writers for capturing your simulation
        init_video_writers(obs)

        # Wrap the task steps for recording (if needed)
        original_step = task.step
        task.step = recording_step(original_step)
        original_get_obs = task.get_observation
        task.get_observation = recording_get_observation(original_get_obs)

        # === Retrieve Object Positions ===
        positions = get_object_positions()
        # Map environment keys to our plan terms
        bottom_side_pos   = positions['bottom_side_pos']
        bottom_anchor_pos = positions['bottom_anchor_pos']
        tomato1_pos       = positions['tomato1']
        tomato2_pos       = positions['tomato2']
        plate_pos         = positions['plate']

        # === Execute Oracle Plan ===
        try:
            # Step 1: rotate gripper from zero_deg to ninety_deg
            print("[Task] Step 1: rotate gripper to ninety_deg")
            # quaternion for 90° about Z axis (xyzw)
            ninety_quat = np.array([0.0, 0.0, np.sin(np.pi/4), np.cos(np.pi/4)])
            obs, reward, done = rotate(env, task, ninety_quat)
            if done:
                print("[Task] Early termination after rotate. Reward:", reward)
                return

            # Step 2: move to side position of bottom drawer
            print("[Task] Step 2: move to bottom side position")
            obs, reward, done = move(env, task, target_pos=bottom_side_pos)
            if done:
                print("[Task] Early termination after move-to-side. Reward:", reward)
                return

            # Step 3: move to anchor position of bottom drawer
            print("[Task] Step 3: move to bottom anchor position")
            obs, reward, done = move(env, task, target_pos=bottom_anchor_pos)
            if done:
                print("[Task] Early termination after move-to-anchor. Reward:", reward)
                return

            # Step 4: pick the drawer handle
            print("[Task] Step 4: pick drawer at anchor position")
            obs, reward, done = pick(env, task, target_pos=bottom_anchor_pos)
            if done:
                print("[Task] Early termination after pick-drawer. Reward:", reward)
                return

            # Step 5: pull to open the drawer
            print("[Task] Step 5: pull drawer open")
            # assume 0.1m pull distance along X axis
            obs, reward, done = pull(env, task, pull_distance=0.1, pull_axis='x')
            if done:
                print("[Task] Early termination after pull. Reward:", reward)
                return

            # Step 6: pick tomato1 from table
            print("[Task] Step 6: pick tomato1")
            obs, reward, done = pick(env, task, target_pos=tomato1_pos)
            if done:
                print("[Task] Early termination after picking tomato1. Reward:", reward)
                return

            # Step 7: place tomato1 on plate
            print("[Task] Step 7: place tomato1 on plate")
            obs, reward, done = place(env, task, target_pos=plate_pos)
            if done:
                print("[Task] Early termination after placing tomato1. Reward:", reward)
                return

            # Step 8: pick tomato2 from table
            print("[Task] Step 8: pick tomato2")
            obs, reward, done = pick(env, task, target_pos=tomato2_pos)
            if done:
                print("[Task] Early termination after picking tomato2. Reward:", reward)
                return

            # Step 9: place tomato2 on plate
            print("[Task] Step 9: place tomato2 on plate")
            obs, reward, done = place(env, task, target_pos=plate_pos)
            if done:
                print("[Task] Completed all steps. Final reward:", reward)
            else:
                print("[Task] Plan executed but task not flagged done. Final reward:", reward)

        except Exception as e:
            print(f"[Task] Exception during plan execution: {e}")

    finally:
        # Always ensure the environment is properly shutdown
        shutdown_environment(env)

    print("===== End of Skeleton Task =====")


if __name__ == "__main__":
    run_skeleton_task()