#!/usr/bin/env python3
"""
Robotic Arm Feasibility Test System

Main entry point for the robotic arm simulation system.
This system tests the feasibility of robotic arm operations in complex environments,
specifically transporting objects through obstacles.
"""

import sys
import json
from pathlib import Path

# Add src directory to Python path
PROJECT_ROOT = Path(__file__).parent.absolute()
sys.path.insert(0, str(PROJECT_ROOT / 'src'))

from src.gui.main_window import MainWindow

# Configuration constants
CONFIG_FILE = "config.json"
REQUIRED_MODULES = ['pybullet', 'tkinter', 'numpy']


def check_dependencies():
    """Check if all required dependencies are installed"""
    missing = []
    
    for module in REQUIRED_MODULES:
        try:
            __import__(module)
        except ImportError:
            missing.append(module)
    
    if not missing:
        return True
        
    print(f"Missing dependencies: {', '.join(missing)}")
    print(f"Install with: pip install {' '.join(missing)}")
    return False


def verify_environment():
    """Verify that the environment is properly configured"""
    # Check configuration file
    config_path = PROJECT_ROOT / CONFIG_FILE
    if not config_path.exists():
        print(f"Error: {CONFIG_FILE} not found")
        return False
    
    # Check robot model file
    try:
        with open(config_path, 'r', encoding='utf-8') as f:
            config = json.load(f)
        
        model_path = config.get('robot', {}).get('model_path', '')
        if model_path and not Path(model_path).exists():
            print(f"Warning: Robot model not found: {model_path}")
            # Continue anyway - let the simulation handle missing model
    except (json.JSONDecodeError, IOError) as e:
        print(f"Error reading configuration: {e}")
        return False
    
    return True


def main():
    """Main entry point"""
    # Verify dependencies and environment
    if not check_dependencies():
        sys.exit(1)
    
    if not verify_environment():
        sys.exit(1)
    
    # Start application
    try:
        app = MainWindow()
        app.run()
    except KeyboardInterrupt:
        pass  # Clean exit on Ctrl+C
    except Exception as e:
        print(f"Fatal error: {e}")
        sys.exit(1)


if __name__ == "__main__":
    main()