import os
import ssl
import time
import imageio
import numpy as np
from PIL import Image
import json
from datetime import datetime
import simulation_env_enhanced as simulation_env
import llm_interface_enhanced as llm_interface
import evaluation

# SSL workaround for Gradio issues
try:
    import certifi
    os.environ['SSL_CERT_FILE'] = certifi.where()
except ImportError:
    pass

# Try to disable SSL verification as a workaround
try:
    ssl._create_default_https_context = ssl._create_unverified_context
except AttributeError:
    pass

# Try to import Gradio with error handling
GRADIO_AVAILABLE = False
try:
    import gradio as gr
    GRADIO_AVAILABLE = True
    print("✓ Gradio imported successfully")
except Exception as e:
    print(f"⚠ Gradio import failed: {e}")
    print("Will use console-based interface instead")
    GRADIO_AVAILABLE = False

# Global configuration
MAX_ITERATIONS = 5
SIMULATION_DURATION_SEC = 10
OBSTACLE_FAR_EDGE_X = 0.8

def run_design_and_simulation_iteration(llm_prompt_func, previous_attempt_data, current_iteration, vehicle_type="robot"):
    """Run one complete design and simulation iteration for robot or drone"""
    
    try:
        # Call LLM for vehicle design
        prompt = llm_prompt_func()
        llm_response_dict = llm_interface.call_llm_api(prompt)
        
        if not llm_response_dict:
            raise Exception("Failed to get valid LLM response")
        
        # Extract vehicle specs and validate
        vehicle_specs = llm_response_dict.get('robot_specs', {})
        vehicle_specs["vehicle_type"] = vehicle_type  # Add vehicle type
        design_reasoning = llm_response_dict.get('design_reasoning', 'No reasoning provided')
        
        # Setup PyBullet environment
        obstacle_id, plane_id = simulation_env.setup_pybullet_environment()
        
        # Create vehicle (robot or drone)
        if vehicle_type == "robot":
            vehicle_id, joint_indices, v_type = simulation_env.create_robot(vehicle_specs)
            vehicle_props = None
        elif vehicle_type == "drone":
            vehicle_id, joint_indices, v_type, vehicle_props = simulation_env.create_drone(vehicle_specs)
        else:
            raise ValueError(f"Unknown vehicle type: {vehicle_type}")
        
        # Run simulation loop
        current_sim_time = 0
        frames_for_gif = []
        final_pybullet_feedback = {}
        start_time = time.time()
        
        # Simulation loop
        simulation_steps = int(SIMULATION_DURATION_SEC * 240)
        for step in range(simulation_steps):
            # Run simulation step
            simulation_env.run_simulation_step(
                vehicle_id, joint_indices, {}, vehicle_type, 
                vehicle_props if vehicle_type == "drone" else None
            )
            
            current_sim_time = time.time() - start_time
            
            # Capture frame every 24 steps (10 fps for GIF)
            if step % 24 == 0:
                try:
                    frame = simulation_env.capture_frame()
                    frames_for_gif.append(frame)
                except:
                    pass  # Skip frame capture if it fails
            
            # Get current feedback
            pybullet_feedback_snapshot = simulation_env.get_simulation_feedback(
                vehicle_id, obstacle_id, start_time, current_sim_time, vehicle_type
            )
            final_pybullet_feedback = pybullet_feedback_snapshot
            
            # Check for early exit conditions
            vehicle_x_pos = pybullet_feedback_snapshot['robot_position'][0]  # Using robot_position for compatibility
            is_stable = pybullet_feedback_snapshot['is_robot_upright']       # Using is_robot_upright for compatibility
            
            # Exit if vehicle crossed well past obstacle or became unstable
            if vehicle_x_pos > OBSTACLE_FAR_EDGE_X + 0.1 or not is_stable:
                break
            
            # Exit if simulation time exceeded
            if current_sim_time > SIMULATION_DURATION_SEC:
                break
        
        # Evaluate results
        evaluation_results = evaluation.evaluate_simulation_outcome(
            final_pybullet_feedback, OBSTACLE_FAR_EDGE_X
        )
        llm_feedback_string = evaluation.format_feedback_for_llm(evaluation_results)
        
        # Cleanup PyBullet
        simulation_env.reset_simulation()
        
        return llm_response_dict, evaluation_results, llm_feedback_string, frames_for_gif
        
    except Exception as e:
        print(f"Error in simulation iteration: {e}")
        # Cleanup on error
        try:
            simulation_env.reset_simulation()
        except:
            pass
        
        # Return error response
        error_response = {
            'robot_design_iteration': current_iteration,
            'design_reasoning': f'Error occurred: {str(e)}',
            'robot_specs': {}
        }
        error_evaluation = {
            'robot_crossed_obstacle': False,
            'no_significant_collision_with_obstacle_during_pass': False,
            'robot_remains_upright': False,
            'overall_success': False,
            'specific_failure_point': 'simulation_error',
            'final_robot_x_position': 0.0
        }
        error_feedback = f"Simulation failed with error: {str(e)}"
        
        return error_response, error_evaluation, error_feedback, []

def create_gif_from_frames(frames, filename):
    """Create GIF from simulation frames"""
    try:
        # Create outputs directory if it doesn't exist
        outputs_dir = "outputs"
        if not os.path.exists(outputs_dir):
            os.makedirs(outputs_dir)
        
        gif_path = os.path.join(outputs_dir, filename)
        
        # Convert PIL images to numpy arrays
        frame_arrays = []
        for frame in frames:
            if isinstance(frame, Image.Image):
                frame_arrays.append(np.array(frame))
            else:
                frame_arrays.append(frame)
        
        # Create GIF
        if frame_arrays:
            imageio.mimsave(gif_path, frame_arrays, fps=10, loop=0)
            return gif_path
        else:
            return None
            
    except Exception as e:
        print(f"Error creating GIF: {e}")
        return None

def find_best_attempt(all_attempts_data):
    """Find the best attempt from all attempts"""
    if not all_attempts_data:
        return None
    
    # Sort by final position reached
    best_attempt = max(all_attempts_data, 
                      key=lambda x: x['evaluation_results']['final_robot_x_position'])
    return best_attempt

def design_vehicle_for_obstacle(vehicle_type, user_task_description):
    """Main function for Gradio interface - design vehicle iteratively"""
    
    # Initialize
    iteration = 1
    all_attempts_data = []
    overall_process_log = []
    
    vehicle_name = "robot" if vehicle_type == "robot" else "drone"
    overall_process_log.append(f"Starting {vehicle_name} design process for task: {user_task_description}")
    overall_process_log.append(f"Target: Cross 5cm high obstacle at x=0.75m")
    overall_process_log.append(f"Success criteria: Cross obstacle (x>0.8m), stay upright/stable, minimal collision")
    overall_process_log.append("")
    
    # Main iteration loop
    while iteration <= MAX_ITERATIONS:
        overall_process_log.append(f"--- Iteration {iteration} ---")
        
        # Yield current progress
        yield "\n".join(overall_process_log), None, None
        
        try:
            # Determine prompt function
            if iteration == 1:
                if vehicle_type == "robot":
                    prompt_func = lambda: llm_interface.generate_initial_robot_design_prompt()
                else:  # drone
                    prompt_func = lambda: llm_interface.generate_initial_drone_design_prompt()
                prev_attempt = None
            else:
                last_attempt = all_attempts_data[-1]
                if vehicle_type == "robot":
                    prompt_func = lambda: llm_interface.generate_iterative_robot_design_prompt(
                        last_attempt, iteration
                    )
                else:  # drone
                    prompt_func = lambda: llm_interface.generate_iterative_drone_design_prompt(
                        last_attempt, iteration
                    )
                prev_attempt = last_attempt
            
            # Run design and simulation iteration
            llm_design, eval_results, feedback_str, frames = run_design_and_simulation_iteration(
                prompt_func, prev_attempt, iteration, vehicle_type
            )
            
            # Store attempt data
            current_attempt_data = {
                "llm_design": llm_design,
                "robot_specs": llm_design.get('robot_specs', {}),
                "design_reasoning": llm_design.get('design_reasoning', ''),
                "evaluation_results": eval_results,
                "feedback_from_simulation": feedback_str
            }
            all_attempts_data.append(current_attempt_data)
            
            # Update log
            overall_process_log.append(f"LLM Design ({iteration}): {llm_design.get('robot_specs')}")
            overall_process_log.append(f"Design Reasoning: {llm_design.get('design_reasoning', 'N/A')}")
            overall_process_log.append(f"Simulation Feedback: {feedback_str}")
            overall_process_log.append("")
            
            # Create GIF from frames
            gif_path = None
            if frames:
                gif_filename = f"{vehicle_name}_iteration_{iteration}.gif"
                gif_path = create_gif_from_frames(frames, gif_filename)
            
            # Check for success
            if eval_results.get('overall_success', False):
                overall_process_log.append(f"🎉 SUCCESS! {vehicle_name.title()} passed the obstacle in {iteration} iterations.")
                overall_process_log.append(f"Final {vehicle_name} specs: {llm_design.get('robot_specs')}")
                
                # Return final results
                final_log = "\n".join(overall_process_log)
                final_specs = llm_design.get('robot_specs', {})
                
                yield final_log, gif_path, final_specs
                return
            
            # Yield current progress with GIF
            yield "\n".join(overall_process_log), gif_path, llm_design.get('robot_specs', {})
            
        except Exception as e:
            overall_process_log.append(f"Error in iteration {iteration}: {str(e)}")
            overall_process_log.append("")
        
        iteration += 1
    
    # Max iterations reached without success
    overall_process_log.append(f"❌ FAILURE: Max {MAX_ITERATIONS} iterations reached. Obstacle not passed.")
    
    # Find best attempt
    best_attempt = find_best_attempt(all_attempts_data)
    best_specs = best_attempt['robot_specs'] if best_attempt else "No valid designs generated"
    
    if best_attempt:
        overall_process_log.append(f"Best attempt reached x={best_attempt['evaluation_results']['final_robot_x_position']:.2f}m")
        overall_process_log.append(f"Best {vehicle_name} specs: {best_specs}")
    
    # Create final GIF from last attempt
    final_gif_path = None
    if all_attempts_data and 'frames' in locals():
        final_gif_path = create_gif_from_frames(frames, f"final_{vehicle_name}_attempt.gif")
    
    final_log = "\n".join(overall_process_log)
    yield final_log, final_gif_path, best_specs

def console_design_vehicle_for_obstacle(vehicle_type, user_task_description):
    """Console-based version of the vehicle design system"""
    
    vehicle_name = "robot" if vehicle_type == "robot" else "drone"
    
    print("=" * 60)
    print(f"LLM {vehicle_name.title()} Design System - Console Interface")
    print("=" * 60)
    print(f"Task: {user_task_description}")
    print(f"Target: Cross 5cm high obstacle at x=0.75m")
    print(f"Success criteria: Cross obstacle (x>0.8m), stay upright/stable, minimal collision")
    print("")
    
    # Initialize best design tracking
    iteration = 1
    all_attempts_data = []
    best_attempt_data = None
    best_iteration = 0
    
    # Main iteration loop
    while iteration <= MAX_ITERATIONS:
        print(f"--- Iteration {iteration} ---")
        
        try:
            # Determine prompt function
            if iteration == 1:
                if vehicle_type == "robot":
                    prompt_func = lambda: llm_interface.generate_initial_robot_design_prompt()
                else:  # drone
                    prompt_func = lambda: llm_interface.generate_initial_drone_design_prompt()
                prev_attempt = None
            else:
                last_attempt = all_attempts_data[-1]
                if vehicle_type == "robot":
                    prompt_func = lambda: llm_interface.generate_iterative_robot_design_prompt(
                        last_attempt, iteration
                    )
                else:  # drone
                    prompt_func = lambda: llm_interface.generate_iterative_drone_design_prompt(
                        last_attempt, iteration
                    )
                prev_attempt = last_attempt
            
            # Run design and simulation iteration
            llm_design, eval_results, feedback_str, frames = run_design_and_simulation_iteration(
                prompt_func, prev_attempt, iteration, vehicle_type
            )
            
            # Store attempt data
            current_attempt_data = {
                "llm_design": llm_design,
                "robot_specs": llm_design.get('robot_specs', {}),
                "design_reasoning": llm_design.get('design_reasoning', ''),
                "evaluation_results": eval_results,
                "feedback_from_simulation": feedback_str,
                "iteration": iteration
            }
            all_attempts_data.append(current_attempt_data)
            
            # Check if this is the best design so far
            if best_attempt_data is None or is_current_better(
                eval_results, iteration, 
                best_attempt_data['evaluation_results'], best_iteration
            ):
                best_attempt_data = current_attempt_data
                best_iteration = iteration
                print(f"🏆 New best design found in iteration {iteration}!")
            
            # Display results
            print(f"LLM Design ({iteration}): {llm_design.get('robot_specs')}")
            print(f"Design Reasoning: {llm_design.get('design_reasoning', 'N/A')}")
            print(f"Simulation Feedback: {feedback_str}")
            print("")
            
            # Create GIF from frames
            if frames:
                gif_filename = f"{vehicle_name}_iteration_{iteration}.gif"
                gif_path = create_gif_from_frames(frames, gif_filename)
                if gif_path:
                    print(f"Simulation GIF saved: {gif_path}")
            
            # Check for success
            if eval_results.get('overall_success', False):
                print(f"🎉 SUCCESS! {vehicle_name.title()} passed the obstacle in {iteration} iterations.")
                print(f"Final {vehicle_name} specs: {llm_design.get('robot_specs')}")
                
                # Save best design JSON
                json_file = save_best_design_json(best_attempt_data, vehicle_type, iteration)
                
                return True, llm_design.get('robot_specs')
            
        except Exception as e:
            print(f"Error in iteration {iteration}: {str(e)}")
        
        iteration += 1
    
    # Max iterations reached without success
    print(f"❌ FAILURE: Max {MAX_ITERATIONS} iterations reached. Obstacle not passed.")
    
    # Display best design summary
    if best_attempt_data:
        print(f"\n🏆 BEST DESIGN SUMMARY (from iteration {best_iteration}):")
        print(f"   • Final Position: {best_attempt_data['evaluation_results']['final_robot_x_position']:.3f}m")
        print(f"   • Success: {best_attempt_data['evaluation_results']['overall_success']}")
        
        best_specs = best_attempt_data['robot_specs']
        if vehicle_type == "robot":
            print(f"   • Wheel Type: {best_specs.get('wheel_type', 'unknown')}")
            print(f"   • Body Clearance: {best_specs.get('body_clearance_cm', 0)}cm")
            print(f"   • Material: {best_specs.get('main_material', 'unknown')}")
        else:  # drone
            print(f"   • Propeller Size: {best_specs.get('propeller_size', 'unknown')}")
            print(f"   • Flight Height: {best_specs.get('flight_height_cm', 0)}cm")
            print(f"   • Material: {best_specs.get('main_material', 'unknown')}")
        
        print(f"   • Design Reasoning: {best_attempt_data['design_reasoning']}")
        
        # Save best design JSON
        json_file = save_best_design_json(best_attempt_data, vehicle_type, MAX_ITERATIONS)
        
        return False, best_specs
    else:
        print("No valid designs generated")
        return False, "No valid designs generated"

# Gradio Interface Setup
def create_gradio_interface():
    """Create and configure Gradio interface with vehicle type selection"""
    
    with gr.Blocks(title="LLM Vehicle Designer - Robots & Drones", theme=gr.themes.Soft()) as iface:
        gr.Markdown("# 🤖🚁 LLM-Agent-Designed Obstacle-Passing Vehicle System")
        gr.Markdown("This system uses an LLM agent to iteratively design **robots** or **drones** that can pass a 5cm high obstacle.")
        
        with gr.Row():
            with gr.Column(scale=2):
                vehicle_type = gr.Radio(
                    choices=["robot", "drone"],
                    label="Vehicle Type",
                    value="robot",
                    info="Choose between a ground robot or flying drone"
                )
                
                task_input = gr.Textbox(
                    label="Task Description",
                    value="Design a vehicle that can pass the 5cm high obstacle",
                    placeholder="Describe what you want the vehicle to accomplish...",
                    lines=2
                )
                
                submit_btn = gr.Button("🚀 Start Vehicle Design Process", variant="primary", size="lg")
                
            with gr.Column(scale=1):
                gr.Markdown("### Process Info")
                gr.Markdown("- **Obstacle**: 5cm high, 50cm wide, 10cm deep")
                gr.Markdown("- **Success**: Vehicle crosses (x > 0.8m), stays stable")
                gr.Markdown("- **Max Iterations**: 5")
                gr.Markdown("- **Robot**: Wheels, clearance, materials")
                gr.Markdown("- **Drone**: Propellers, flight height, materials")
        
        with gr.Row():
            with gr.Column(scale=2):
                process_log = gr.Textbox(
                    label="🔄 Design Process Log",
                    lines=20,
                    max_lines=30,
                    show_copy_button=True
                )
            
            with gr.Column(scale=1):
                simulation_gif = gr.Image(
                    label="🎬 Simulation Visualization",
                    type="filepath"
                )
                
                vehicle_specs = gr.JSON(
                    label="🔧 Final Vehicle Specifications"
                )
        
        # Set up the interface interaction
        submit_btn.click(
            fn=design_vehicle_for_obstacle,
            inputs=[vehicle_type, task_input],
            outputs=[process_log, simulation_gif, vehicle_specs]
        )
        
        gr.Markdown("---")
        gr.Markdown("### How it works:")
        gr.Markdown("1. **Vehicle Selection**: Choose robot (ground) or drone (flying)")
        gr.Markdown("2. **LLM Design**: AI agent proposes vehicle parameters")
        gr.Markdown("3. **Simulation**: Vehicle tested in PyBullet physics")
        gr.Markdown("4. **Evaluation**: Performance measured against success criteria")
        gr.Markdown("5. **Iteration**: Feedback used to improve design")
        gr.Markdown("6. **Success/Failure**: Process continues until success or max iterations")
    
    return iface

def is_current_better(current_eval, current_iteration, best_eval, best_iteration):
    """
    Determine if current design is better than best design using priority criteria:
    1. Priority 1: Any design achieving overall_success == True
    2. Priority 2: Among successful designs, fewer iterations preferred  
    3. Priority 3: Designs that crossed obstacle (even if failed other criteria)
    4. Priority 4: Design with furthest final_robot_x_position
    5. Priority 5: If tied, use last design
    """
    
    # Priority 1: Success vs non-success
    current_success = current_eval.get('overall_success', False)
    best_success = best_eval.get('overall_success', False)
    
    if current_success and not best_success:
        return True
    elif best_success and not current_success:
        return False
    elif current_success and best_success:
        # Priority 2: Among successful, prefer fewer iterations
        return current_iteration < best_iteration
    
    # Priority 3: Obstacle crossing (even if overall failed)
    current_crossed = current_eval.get('robot_crossed_obstacle', False)
    best_crossed = best_eval.get('robot_crossed_obstacle', False)
    
    if current_crossed and not best_crossed:
        return True
    elif best_crossed and not current_crossed:
        return False
    
    # Priority 4: Furthest distance
    current_distance = current_eval.get('final_robot_x_position', 0.0)
    best_distance = best_eval.get('final_robot_x_position', 0.0)
    
    if current_distance > best_distance:
        return True
    elif current_distance < best_distance:
        return False
    
    # Priority 5: If tied, use last design (current)
    return True

def format_best_design_performance(eval_results):
    """Format evaluation results for user-friendly display"""
    
    success_status = "✅ SUCCESS" if eval_results.get('overall_success', False) else "❌ FAILED"
    
    performance_text = f"""
{success_status}

📊 **Performance Metrics:**
• Final Position: {eval_results.get('final_robot_x_position', 0.0):.3f}m
• Crossed Obstacle: {'✅ Yes' if eval_results.get('robot_crossed_obstacle', False) else '❌ No'}
• Remained Upright: {'✅ Yes' if eval_results.get('robot_remains_upright', False) else '❌ No'}
• Clean Pass: {'✅ Yes' if eval_results.get('no_significant_collision_with_obstacle_during_pass', False) else '❌ No'}

🎯 **Success Criteria:**
• Target: Cross obstacle (reach x > 0.8m)
• Current: {eval_results.get('final_robot_x_position', 0.0):.3f}m
• Status: {'ACHIEVED' if eval_results.get('final_robot_x_position', 0.0) > 0.8 else 'NOT ACHIEVED'}

⚠️ **Failure Analysis:**
{eval_results.get('specific_failure_point', 'No specific failure identified')}
"""
    
    return performance_text.strip()

def save_best_design_json(best_attempt_data, vehicle_type, iteration_count):
    """Save the best design to a comprehensive JSON file"""
    
    if not best_attempt_data:
        return None
    
    # Create timestamp
    timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
    
    # Determine vehicle specifications key
    if vehicle_type == "robot":
        specs_key = "robot_specs"
        json_filename = f"best_robot_design_{timestamp}.json"
    else:
        specs_key = "robot_specs"  # Using same key for compatibility
        json_filename = f"best_drone_design_{timestamp}.json"
    
    # Extract specifications
    vehicle_specs = best_attempt_data.get(specs_key, {})
    
    # Create comprehensive JSON structure
    json_data = {
        "timestamp": datetime.now().isoformat(),
        "vehicle_type": vehicle_type,
        "total_iterations": iteration_count,
        "design_process_summary": {
            "success": best_attempt_data['evaluation_results'].get('overall_success', False),
            "best_iteration": "Final attempt",  # Could be enhanced to track actual best iteration
            "total_attempts": iteration_count
        }
    }
    
    # Add vehicle-specific specifications
    if vehicle_type == "robot":
        json_data["robot_specifications"] = {
            "wheel_type": vehicle_specs.get('wheel_type', 'unknown'),
            "body_clearance_cm": vehicle_specs.get('body_clearance_cm', 0),
            "approach_sensor_enabled": vehicle_specs.get('approach_sensor_enabled', False),
            "main_material": vehicle_specs.get('main_material', 'unknown'),
            "vehicle_type": vehicle_specs.get('vehicle_type', 'robot')
        }
    else:  # drone
        json_data["drone_specifications"] = {
            "propeller_size": vehicle_specs.get('propeller_size', 'unknown'),
            "flight_height_cm": vehicle_specs.get('flight_height_cm', 0),
            "stability_mode": vehicle_specs.get('stability_mode', 'unknown'),
            "main_material": vehicle_specs.get('main_material', 'unknown'),
            "vehicle_type": vehicle_specs.get('vehicle_type', 'drone')
        }
    
    # Add design reasoning
    json_data["design_reasoning"] = best_attempt_data.get('design_reasoning', 'No reasoning provided')
    
    # Add performance results
    eval_results = best_attempt_data['evaluation_results']
    json_data["performance_results"] = {
        "overall_success": eval_results.get('overall_success', False),
        "robot_crossed_obstacle": eval_results.get('robot_crossed_obstacle', False),
        "robot_remains_upright": eval_results.get('robot_remains_upright', False),
        "no_significant_collision_with_obstacle_during_pass": eval_results.get('no_significant_collision_with_obstacle_during_pass', False),
        "final_robot_x_position": eval_results.get('final_robot_x_position', 0.0),
        "specific_failure_point": eval_results.get('specific_failure_point', 'none')
    }
    
    # Add success criteria breakdown
    json_data["success_criteria_analysis"] = {
        "target_distance": 0.8,
        "achieved_distance": eval_results.get('final_robot_x_position', 0.0),
        "distance_success": eval_results.get('final_robot_x_position', 0.0) > 0.8,
        "stability_success": eval_results.get('robot_remains_upright', False),
        "collision_success": eval_results.get('no_significant_collision_with_obstacle_during_pass', False),
        "overall_success": eval_results.get('overall_success', False)
    }
    
    # Add performance summary
    json_data["performance_summary"] = {
        "distance_traveled": f"{eval_results.get('final_robot_x_position', 0.0):.3f}m",
        "success_rate": "100%" if eval_results.get('overall_success', False) else "0%",
        "primary_failure": eval_results.get('specific_failure_point', 'unknown') if not eval_results.get('overall_success', False) else None
    }
    
    # Save JSON file
    try:
        with open(json_filename, 'w', encoding='utf-8') as f:
            json.dump(json_data, f, indent=2, ensure_ascii=False)
        
        print(f"📄 Best {vehicle_type} design saved to: {json_filename}")
        return json_filename
        
    except Exception as e:
        print(f"❌ Error saving JSON file: {e}")
        return None

if __name__ == "__main__":
    print("🤖🚁 LLM-Agent-Designed Vehicle System (Robots & Drones)")
    print("=" * 60)
    
    if GRADIO_AVAILABLE:
        print("Starting Gradio web interface...")
        try:
            # Create and launch Gradio interface
            interface = create_gradio_interface()
            interface.launch(
                server_name="0.0.0.0",
                server_port=7860,
                share=True,
                show_error=True
            )
        except Exception as e:
            print(f"Failed to start Gradio interface: {e}")
            print("Falling back to console interface...")
            GRADIO_AVAILABLE = False
    
    if not GRADIO_AVAILABLE:
        print("Using console interface...")
        print("Note: Simulation GIFs will be saved to the 'outputs' directory")
        print("")
        
        # Get user input
        vehicle_type = input("Choose vehicle type (robot/drone) [robot]: ").strip().lower()
        if vehicle_type not in ["robot", "drone"]:
            vehicle_type = "robot"
        
        task_description = input("Enter task description (or press Enter for default): ").strip()
        if not task_description:
            task_description = f"Design a {vehicle_type} that can pass the 5cm high obstacle"
        
        print("")
        
        # Run the design process
        success, final_specs = console_design_vehicle_for_obstacle(vehicle_type, task_description)
        
        print("\n" + "=" * 60)
        if success:
            print("🎉 MISSION ACCOMPLISHED!")
            print(f"Final successful {vehicle_type} design: {final_specs}")
        else:
            print("❌ Mission failed, but valuable data collected.")
            print(f"Best attempt specs: {final_specs}")
        
        print("\nCheck the 'outputs' directory for simulation GIFs.")
        print("=" * 60)