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# --------------------------------------------------------
# Licensed under The MIT License [see LICENSE for details]
# --------------------------------------------------------
import random
import os
import time
import sys
import numpy as np
import IPython
import torch
from tqdm import tqdm
from collections import OrderedDict
import os
import PIL.Image
import numpy as np
from typing import Union, List
from pathlib import Path
import re

CURRENT_DIR = os.path.dirname(__file__)
import cv2
from os.path import expanduser
import pickle
import cv2
from matplotlib import pyplot as plt

import pandas as pd
import json

RESOLUTION = (480, 480)
DATA = "/home/liruiw/Projects/frodobot/"
# https://colab.research.google.com/#scrollTo=50ce529a-a20a-4852-9a5a-114b52b98f2e&fileId=https%3A//huggingface.co/datasets/frodobots/FrodoBots-2K/blob/main/helpercode.ipynb


# #### control data
import pandas as pd

# print(f"{dataset_dir}/control_data_{ride_id}.csv")


def convert_img_dataset(
    dataset_dir="/home/liruiw/Projects/frodobot/output_rides_22",
    env_names=None,
    gui=False,
    episode_num_pertask=2000,
    **kwargs,
):
    # convert to a list of episodes that can be added to replay buffer
    for eps_file in os.listdir(dataset_dir)[:50]:  # 50 trajectories
        dataset_dir_ = os.path.join(dataset_dir, eps_file)
        if os.path.isdir(dataset_dir_):
            ride_id = dataset_dir_.split("_")[-2]
            print(dataset_dir_)

            ##### control data
            control = pd.read_csv(f"{dataset_dir_}/control_data_{ride_id}.csv")
            control_data_dict = control.set_index("timestamp").T.to_dict("list")
            control_sorted_keys = sorted(list(control_data_dict.keys()))

            ##### IMU data
            gyro_data = pd.read_csv(f"{dataset_dir_}/imu_data_{ride_id}.csv")[["timestamp", "gyroscope"]]
            gyro_data_dict = gyro_data.set_index("timestamp").T.to_dict("list")
            gyro_sorted_keys = sorted(list(gyro_data_dict.keys()))

            compass_data = pd.read_csv(f"{dataset_dir_}/imu_data_{ride_id}.csv")[["timestamp", "compass"]]
            compass_data_dict = compass_data.set_index("timestamp").T.to_dict("list")
            compass_sorted_keys = sorted(list(compass_data_dict.keys()))

            accel_data = pd.read_csv(f"{dataset_dir_}/imu_data_{ride_id}.csv")[["timestamp", "accelerometer"]]
            accel_data_dict = accel_data.set_index("timestamp").T.to_dict("list")
            accel_sorted_keys = sorted(list(accel_data_dict.keys()))

            ##### Camera data
            camera_data = pd.read_csv(f"{dataset_dir_}/front_camera_timestamps_{ride_id}.csv")
            camera_data_dict = camera_data.set_index("timestamp").T.to_dict("list")
            camera_sorted_keys = sorted(list(camera_data_dict.keys()))

            images = sorted(os.listdir(f"{dataset_dir_}/front_camera/"))

            # #### front camera video
            # front_camera = f"{dataset_dir}/recordings/0f0e8539d249f38e3ae7b18660f5af8c_ride_39572__uid_s_1000__uid_e_video_20240502221408754.ts"
            languages = "drive around to play"  # dummy
            steps = []
            SUBSAMPLE_IDX = 5

            for idx, control_t in enumerate(control_sorted_keys):

                # enumerate along actions and only pick matched timesteps
                action = control_data_dict[control_t]
                camera_t = camera_sorted_keys[np.argmin(np.array(camera_sorted_keys) - control_t)]
                camera_path = images[camera_data_dict[camera_t][0]]
                img = cv2.resize(cv2.imread(f"{dataset_dir_}/front_camera/{camera_path}"), None, fx=0.5, fy=0.5)
                gyro = gyro_data_dict[gyro_sorted_keys[np.argmin(np.array(gyro_sorted_keys) - control_t)]]
                first_three_strings = eval(gyro[0])[0][:3]
                gyro_array = np.array(first_three_strings, dtype=float)

                compass = compass_data_dict[compass_sorted_keys[np.argmin(np.array(compass_sorted_keys) - control_t)]]
                first_three_strings = eval(compass[0])[0][:3]
                compass_array = np.array(first_three_strings, dtype=float)

                accel = accel_data_dict[accel_sorted_keys[np.argmin(np.array(accel_sorted_keys) - control_t)]]
                first_three_strings = eval(accel[0])[0][:3]
                accel_array = np.array(first_three_strings, dtype=float)

                prop = np.concatenate((gyro_array, compass_array, accel_array))
                step = {
                    "observation": {"state": prop, "image": img},
                    "action": action,
                    "language_instruction": languages,
                }
                steps.append(OrderedDict(step))
            data_dict = {"steps": steps}
            yield data_dict


class RolloutRunner:
    """evaluate policy rollouts"""

    def __init__(self, env_names, episode_num, save_video=False):
        self.env_names = env_names
        self.episode_num = episode_num
        self.envs = []
        self.scene_files = []
        self.save_video = save_video

    @torch.no_grad()
    def run(self, policy, save_video=False, gui=False, video_postfix="", seed=233, env_name=None, **kwargs):
        pass