"""
Quick test: regen road 3 times, print node[10] position after each.
If the position changes, the minimap fix will detect it and refresh.
"""
import sys, time
sys.path.insert(0, '/home/paulh/projects/donkeycar-rl-autoresearch/agent')

import gymnasium as gym
import gym_donkeycar  # noqa

HOST, PORT = 'localhost', 9091
SEEDS = [1111, 55555, 99999, 12345, 77777]

env = gym.make('donkey-generated-roads-v0', conf={'host': HOST, 'port': PORT})
handler = env.unwrapped.viewer.handler

def regen(seed):
    handler.queue_message({
        'msg_type': 'regen_road', 'road_style': '0',
        'rand_seed': str(seed), 'turn_increment': '0.0',
    })
    time.sleep(3.5)
    obs, info = env.reset()
    # Take one step to get fresh telemetry
    obs, _, _, _, info = env.step([0.0, 0.1])
    return info.get('pos', None), info.get('cte', None)

print('Testing road regen — recording car position after reset+1step:')
print()

positions = []
for seed in SEEDS:
    pos, cte = regen(seed)
    p = list(pos)[:3] if pos else [0,0,0]
    positions.append(p)
    print(f'  Seed {seed:6d}: pos x={p[0]:.3f}  y={p[1]:.3f}  z={p[2]:.3f}  cte={cte:.3f}')

env.close()

print()
# All positions should be the same (car always spawns at startPos).
# But road node[10] position will differ — proven by the fact that CTE diverges after a few steps.
print('Car spawn position is always the same (startPos) — comparison via driving test is needed.')
print('Run verify_road_regen.py for that proof.')
print()
print('If the MINIMAP in the sim window changed shape between each regen above, the fix works.')