#!/usr/bin/env python3
from __future__ import annotations

import argparse
import base64
import json
import urllib.request
from pathlib import Path


def main() -> None:
    parser = argparse.ArgumentParser()
    parser.add_argument("--url", default="http://127.0.0.1:8080")
    parser.add_argument("--image", type=Path, required=True)
    parser.add_argument(
        "--state",
        type=Path,
        required=True,
        help="JSON file containing a 61-float array.",
    )
    parser.add_argument("--instruction", required=True)
    parser.add_argument("--control-index", type=int, default=0)
    args = parser.parse_args()

    payload = {
        "image_jpeg_base64": base64.b64encode(args.image.read_bytes()).decode(),
        "state": json.loads(args.state.read_text()),
        "instruction": args.instruction,
        "control_index": args.control_index,
        "autonomous_recovery": True,
    }
    request = urllib.request.Request(
        f"{args.url.rstrip('/')}/predict",
        data=json.dumps(payload).encode(),
        headers={"Content-Type": "application/json"},
        method="POST",
    )
    with urllib.request.urlopen(request) as response:
        result = json.load(response)
    print(json.dumps(result, indent=2))


if __name__ == "__main__":
    main()