import gymnasium as gym
import gym_donkeycar.envs
import gym_donkeycar.envs.donkey_env
import os
import time

host = os.environ.get('DONKEY_SIM_HOST', '10.0.0.55')
port = int(os.environ.get('DONKEY_SIM_PORT', '9091'))
print(f"Connecting to DonkeyCar sim at {host}:{port}")

env = gym.make("donkey-generated-roads-v0")
viewer = env.unwrapped.viewer
handler = viewer.handler

tracks = getattr(handler, 'scene_names', None)

# Wait for the list if necessary
timeout = 10
while tracks is None and timeout > 0:
    if hasattr(handler, 'scene_names') and handler.scene_names:
        tracks = handler.scene_names
        break
    time.sleep(1)
    timeout -= 1

if tracks:
    print("Available tracks/scenes:")
    for t in tracks:
        print(f" - {t}")
else:
    print("Could not retrieve track/scene list from simulator.")

env.close()