import ai2thor.controller
import ai2thor.robot_controller
import random
import time
import numpy as np
from pprint import pprint

fps = ["FloorPlan311"]

runs = [
    {"id": "unity", "port": 8200, "controller": ai2thor.controller.Controller()},
    {"id": "robot", "port": 9200, "controller": ai2thor.robot_controller.Controller()}
    # {'id': 'robot', 'port': 9000, 'controller': ai2thor.robot_controller.Controller()}
]

for run_config in runs:
    port = run_config["port"]
    controller = run_config["controller"]
    event = controller.start(start_unity=False, host="127.0.0.1", port=port)
    # event = controller.step({'action': 'ChangeQuality', 'quality': 'High'})
    # event = controller.step({"action": "ChangeResolution", "x": 300, "y": 300})

    for fp in fps:
        print(fp)
        for i in range(1):
            event = controller.reset(fp)
            # event = controller.step(dict(action='Initialize', gridSize=0.25, fieldOfView=90, renderInstanceSegmentation=True))
            # event = controller.step(dict(action='InitialRandomSpawn', forceVisible=True, maxNumRepeats=10, randomSeed=1))
            # event = controller.step(dict(action='MoveAhead', noise=0.02))
            event = controller.step(dict(action="RotateLeft"))
            print("event for '{}':".format(run_config["id"]))
            pprint(event.metadata)
            time.sleep(1)