#!/usr/bin/python2.7
# -*- coding: utf-8 -*-

"""
    Krakrobot Python Simulator

    Krakrobot 2016 Qualifications simulator.

    Many thanks to udacity.com:
    https://www.udacity.com/wiki/CS373%20Visualizing%20Maze%20Driving,
    we have reused visualisation code and the general idea while implementing
    this simulator.

"""

from optparse import OptionParser
from simulator import KrakrobotSimulator
from robot_controller import compile_robot, construct_cmd_robot
import sys
import json
from os.path import join, dirname

# TODO: pass constants to robot

def create_parser():
    """ Configure options and return parser object """
    parser = OptionParser()
    parser.add_option(
        "-c",
        "--command_line",
        dest="command_line",
        action="store_true",
        default=False,
        help="Run simulation without visualisation"
    )
    parser.add_option(
        "-m",
        "--map",
        dest="map",
        default=join(dirname(__file__), "maps/1.map"),
        help="Map that will be run after hitting Start Simulation button, "
             "or in command_line mode after running the program"
    )
    parser.add_option(
        "-o",
        "--output",
        dest="output",
        type="str",
        default=None,
        help="Name of file to output results to"
    )
    parser.add_option(
        "-r",
        "--robot",
        dest="robot",
        default="python2.7 examples/python/template_bot.py",
        help="Robot that will be compiled and run"
    )
    parser.add_option(
        "--steering_noise",
        dest="steering_noise",
        default=0.0004 * 1e-2,
        type="float",
        help="Standard deviation of gaussian noise applied to turning motion"
    )
    parser.add_option(
        "--distance_noise",
        dest="distance_noise",
        default=0.001 * 1e-2,
        type="float",
        help="Standard deviation of gaussian noise applied to position after forward motion"
    )
    parser.add_option(
        "--forward_steering_drift",
        dest="forward_steering_drift",
        default=0.008 * 1e-2,
        type="float",
        help="Constant drift applied to robot orientation after forward motion"
    )
    parser.add_option(
        "--speed",
        dest="speed",
        default=0.2,
        type="float",
        help="Speed of the robot (units/simulation second)")
    parser.add_option(
        "--turning_speed",
        dest="turning_speed",
        default=1.0,
        type="float",
        help="Turning speed of the robot (rad/simulation second)"
    )
    parser.add_option(
        "--execution_cpu_time_limit",
        dest="execution_cpu_time_limit",
        default=100.0,
        type="float",
        help="Execution CPU time limit"
    )
    parser.add_option(
        "--simulation_time_limit",
        dest="simulation_time_limit",
        default=240.0,
        type="float",
        help="Simulation time limit (in virtual time units)"
    )
    parser.add_option(
        "--frame_dt",
        dest="frame_dt",
        default=0.25,
        type="float",
        help="How often (in simulation time units) to produce a frame"
    )
    parser.add_option(
        "--iteration_write_frequency",
        dest="iteration_write_frequency",
        default=1000,
        type="int",
        help="How often (number of ticks of simulator) to report simulation"
             " status"
    )
    return parser


parser = create_parser()
(options, args) = parser.parse_args()

simulator_params = {
                        # Robot parameters
                        "speed": options.speed,
                        "distance_noise": options.distance_noise,
                        "steering_noise": options.steering_noise,
                        "forward_steering_drift": options.forward_steering_drift,
                        "turning_speed": options.turning_speed,

                        # Simulation parameters
                        "command_line": options.command_line,
                        "execution_cpu_time_limit": options.execution_cpu_time_limit,
                        "simulation_time_limit": options.simulation_time_limit,
                        "frame_dt": options.frame_dt,
                        "iteration_write_frequency": options.iteration_write_frequency,

                        "robot_controller":  construct_cmd_robot(options.robot), #compile_robot(options.robot)[0],
                        "map": options.map,

                        # Krakrobot 2015 task doesn't allow for using GPS or sonar
                        "measurement_noise": 0.,
                        "color_noise": 0.,
                        "sonar_noise": 0.,
                        "gps_delay": 0.,
                    }


def main():
    if options.command_line:
        simulator = KrakrobotSimulator(simulation_dt=0.0, **simulator_params)
        print "Running simulator"
        results = simulator.run()
        print "Finished running simulator"
        print "Simulation has finished. Results:\n{0}".format(json.dumps(results, indent=1))
    else:
        simulator = KrakrobotSimulator(**simulator_params)
        from gui import SimulatorGUI
        sim_gui = SimulatorGUI(sys.argv, simulator, simulator_params)
        sim_gui.run()

    if options.output:
        print "Writing results to ", options.output
        with open(options.output, "w") as f:
            f.write(json.dumps(simulator.get_results()))


if __name__ == '__main__':
    main()

@@ -490,16 +490,30 @@
 rt json%0A
+import pprint%0A
 from os.
@@ -5051,26 +5051,30 @@
 .format(
-json.dumps
+pprint.pformat
 (results

Make results output more readable by switching to pprint