import os

# Set rendering backend for MuJoCo
os.environ["MUJOCO_GL"] = "egl"

import torch
import numpy as np
import pickle
import argparse

import matplotlib

matplotlib.use("Agg")

import matplotlib.pyplot as plt
from copy import deepcopy
from tqdm import tqdm
from einops import rearrange

from constants import DT
from constants import PUPPET_GRIPPER_JOINT_OPEN
from utils import load_data  # data functions
from utils import sample_box_pose, sample_insertion_pose  # robot functions
from utils import compute_dict_mean, set_seed, detach_dict  # helper functions
from act_policy import ACTPolicy, CNNMLPPolicy
from visualize_episodes import save_videos

from sim_env import BOX_POSE

import IPython

e = IPython.embed


def main(args):
    set_seed(1)
    # command line parameters
    is_eval = args["eval"]
    ckpt_dir = args["ckpt_dir"]
    policy_class = args["policy_class"]
    onscreen_render = args["onscreen_render"]
    task_name = args["task_name"]
    batch_size_train = args["batch_size"]
    batch_size_val = args["batch_size"]
    num_epochs = args["num_epochs"]

    # get task parameters
    is_sim = task_name[:4] == "sim-"
    if is_sim:
        from constants import SIM_TASK_CONFIGS

        task_config = SIM_TASK_CONFIGS[task_name]
    else:
        from aloha_scripts.constants import TASK_CONFIGS

        task_config = TASK_CONFIGS[task_name]
    dataset_dir = task_config["dataset_dir"]
    num_episodes = task_config["num_episodes"]
    episode_len = task_config["episode_len"]
    camera_names = task_config["camera_names"]

    # fixed parameters
    state_dim = 14  # yiheng
    lr_backbone = 1e-5
    backbone = "resnet18"
    if policy_class == "ACT":
        enc_layers = 4
        dec_layers = 7
        nheads = 8
        policy_config = {
            "lr": args["lr"],
            "num_queries": args["chunk_size"],
            "kl_weight": args["kl_weight"],
            "hidden_dim": args["hidden_dim"],
            "dim_feedforward": args["dim_feedforward"],
            "lr_backbone": lr_backbone,
            "backbone": backbone,
            "enc_layers": enc_layers,
            "dec_layers": dec_layers,
            "nheads": nheads,
            "camera_names": camera_names,
        }
    elif policy_class == "CNNMLP":
        policy_config = {
            "lr": args["lr"],
            "lr_backbone": lr_backbone,
            "backbone": backbone,
            "num_queries": 1,
            "camera_names": camera_names,
        }
    else:
        raise NotImplementedError

    config = {
        "num_epochs": num_epochs,
        "ckpt_dir": ckpt_dir,
        "episode_len": episode_len,
        "state_dim": state_dim,
        "lr": args["lr"],
        "policy_class": policy_class,
        "onscreen_render": onscreen_render,
        "policy_config": policy_config,
        "task_name": task_name,
        "seed": args["seed"],
        "temporal_agg": args["temporal_agg"],
        "camera_names": camera_names,
        "real_robot": not is_sim,
        "save_freq": args['save_freq']
    }

    if is_eval:
        ckpt_names = [f"policy_best.ckpt"]
        results = []
        for ckpt_name in ckpt_names:
            success_rate, avg_return = eval_bc(config, ckpt_name, save_episode=True)
            results.append([ckpt_name, success_rate, avg_return])

        for ckpt_name, success_rate, avg_return in results:
            print(f"{ckpt_name}: {success_rate=} {avg_return=}")
        print()
        exit()

    train_dataloader, val_dataloader, stats, _ = load_data(dataset_dir, num_episodes, camera_names, batch_size_train,
                                                           batch_size_val)

    # save dataset stats
    if not os.path.isdir(ckpt_dir):
        os.makedirs(ckpt_dir)
    stats_path = os.path.join(ckpt_dir, f"dataset_stats.pkl")
    with open(stats_path, "wb") as f:
        pickle.dump(stats, f)
    best_ckpt_info = train_bc(train_dataloader, val_dataloader, config)
    best_epoch, min_val_loss, best_state_dict = best_ckpt_info

    # save best checkpoint
    ckpt_path = os.path.join(ckpt_dir, f"policy_best.ckpt")
    torch.save(best_state_dict, ckpt_path)
    print(f"Best ckpt, val loss {min_val_loss:.6f} @ epoch{best_epoch}")


def make_policy(policy_class, policy_config):
    if policy_class == "ACT":
        policy = ACTPolicy(policy_config)
    elif policy_class == "CNNMLP":
        policy = CNNMLPPolicy(policy_config)
    else:
        raise NotImplementedError
    return policy


def make_optimizer(policy_class, policy):
    if policy_class == "ACT":
        optimizer = policy.configure_optimizers()
    elif policy_class == "CNNMLP":
        optimizer = policy.configure_optimizers()
    else:
        raise NotImplementedError
    return optimizer


def get_image(ts, camera_names):
    curr_images = []
    for cam_name in camera_names:
        curr_image = rearrange(ts.observation["images"][cam_name], "h w c -> c h w")
        curr_images.append(curr_image)
    curr_image = np.stack(curr_images, axis=0)
    curr_image = torch.from_numpy(curr_image / 255.0).float().cuda().unsqueeze(0)
    return curr_image


def eval_bc(config, ckpt_name, save_episode=True):
    set_seed(1000)
    ckpt_dir = config["ckpt_dir"]
    state_dim = config["state_dim"]
    real_robot = config["real_robot"]
    policy_class = config["policy_class"]
    onscreen_render = config["onscreen_render"]
    policy_config = config["policy_config"]
    camera_names = config["camera_names"]
    max_timesteps = config["episode_len"]
    task_name = config["task_name"]
    temporal_agg = config["temporal_agg"]
    onscreen_cam = "angle"

    # load policy and stats
    ckpt_path = os.path.join(ckpt_dir, ckpt_name)
    policy = make_policy(policy_class, policy_config)
    loading_status = policy.load_state_dict(torch.load(ckpt_path))
    print(loading_status)
    policy.cuda()
    policy.eval()
    print(f"Loaded: {ckpt_path}")
    stats_path = os.path.join(ckpt_dir, f"dataset_stats.pkl")
    with open(stats_path, "rb") as f:
        stats = pickle.load(f)

    pre_process = lambda s_qpos: (s_qpos - stats["qpos_mean"]) / stats["qpos_std"]
    post_process = lambda a: a * stats["action_std"] + stats["action_mean"]

    # load environment
    if real_robot:
        from aloha_scripts.robot_utils import move_grippers  # requires aloha
        from aloha_scripts.real_env import make_real_env  # requires aloha

        env = make_real_env(init_node=True)
        env_max_reward = 0
    else:
        from sim_env import make_sim_env

        env = make_sim_env(task_name)
        env_max_reward = env.task.max_reward

    query_frequency = policy_config["num_queries"]
    if temporal_agg:
        query_frequency = 1
        num_queries = policy_config["num_queries"]

    max_timesteps = int(max_timesteps * 1)  # may increase for real-world tasks

    num_rollouts = 50
    episode_returns = []
    highest_rewards = []
    for rollout_id in range(num_rollouts):
        rollout_id += 0
        ### set task
        if "sim_transfer_cube" in task_name:
            BOX_POSE[0] = sample_box_pose()  # used in sim reset
        elif "sim_insertion" in task_name:
            BOX_POSE[0] = np.concatenate(sample_insertion_pose())  # used in sim reset

        ts = env.reset()

        ### onscreen render
        if onscreen_render:
            ax = plt.subplot()
            plt_img = ax.imshow(env._physics.render(height=480, width=640, camera_id=onscreen_cam))
            plt.ion()

        ### evaluation loop
        if temporal_agg:
            all_time_actions = torch.zeros([max_timesteps, max_timesteps + num_queries, state_dim]).cuda()

        qpos_history = torch.zeros((1, max_timesteps, state_dim)).cuda()
        image_list = []  # for visualization
        qpos_list = []
        target_qpos_list = []
        rewards = []
        with torch.inference_mode():
            for t in range(max_timesteps):
                ### update onscreen render and wait for DT
                if onscreen_render:
                    image = env._physics.render(height=480, width=640, camera_id=onscreen_cam)
                    plt_img.set_data(image)
                    plt.pause(DT)

                ### process previous timestep to get qpos and image_list
                obs = ts.observation
                if "images" in obs:
                    image_list.append(obs["images"])
                else:
                    image_list.append({"main": obs["image"]})
                qpos_numpy = np.array(obs["qpos"])
                qpos = pre_process(qpos_numpy)
                qpos = torch.from_numpy(qpos).float().cuda().unsqueeze(0)
                qpos_history[:, t] = qpos
                curr_image = get_image(ts, camera_names)

                ### query policy
                if config["policy_class"] == "ACT":
                    if t % query_frequency == 0:
                        all_actions = policy(qpos, curr_image)
                    if temporal_agg:
                        all_time_actions[[t], t:t + num_queries] = all_actions
                        actions_for_curr_step = all_time_actions[:, t]
                        actions_populated = torch.all(actions_for_curr_step != 0, axis=1)
                        actions_for_curr_step = actions_for_curr_step[actions_populated]
                        k = 0.01
                        exp_weights = np.exp(-k * np.arange(len(actions_for_curr_step)))
                        exp_weights = exp_weights / exp_weights.sum()
                        exp_weights = (torch.from_numpy(exp_weights).cuda().unsqueeze(dim=1))
                        raw_action = (actions_for_curr_step * exp_weights).sum(dim=0, keepdim=True)
                    else:
                        raw_action = all_actions[:, t % query_frequency]
                elif config["policy_class"] == "CNNMLP":
                    raw_action = policy(qpos, curr_image)
                else:
                    raise NotImplementedError

                ### post-process actions
                raw_action = raw_action.squeeze(0).cpu().numpy()
                action = post_process(raw_action)
                target_qpos = action

                ### step the environment
                ts = env.step(target_qpos)

                ### for visualization
                qpos_list.append(qpos_numpy)
                target_qpos_list.append(target_qpos)
                rewards.append(ts.reward)

            plt.close()
        if real_robot:
            move_grippers(
                [env.puppet_bot_left, env.puppet_bot_right],
                [PUPPET_GRIPPER_JOINT_OPEN] * 2,
                move_time=0.5,
            )  # open
            pass

        rewards = np.array(rewards)
        episode_return = np.sum(rewards[rewards != None])
        episode_returns.append(episode_return)
        episode_highest_reward = np.max(rewards)
        highest_rewards.append(episode_highest_reward)
        print(
            f"Rollout {rollout_id}\n{episode_return=}, {episode_highest_reward=}, {env_max_reward=}, Success: {episode_highest_reward==env_max_reward}"
        )

        if save_episode:
            save_videos(
                image_list,
                DT,
                video_path=os.path.join(ckpt_dir, f"video{rollout_id}.mp4"),
            )

    success_rate = np.mean(np.array(highest_rewards) == env_max_reward)
    avg_return = np.mean(episode_returns)
    summary_str = f"\nSuccess rate: {success_rate}\nAverage return: {avg_return}\n\n"
    for r in range(env_max_reward + 1):
        more_or_equal_r = (np.array(highest_rewards) >= r).sum()
        more_or_equal_r_rate = more_or_equal_r / num_rollouts
        summary_str += f"Reward >= {r}: {more_or_equal_r}/{num_rollouts} = {more_or_equal_r_rate*100}%\n"

    # save success rate to txt
    result_file_name = "result_" + ckpt_name.split(".")[0] + ".txt"
    with open(os.path.join(ckpt_dir, result_file_name), "w") as f:
        f.write(summary_str)
        f.write(repr(episode_returns))
        f.write("\n\n")
        f.write(repr(highest_rewards))

    return success_rate, avg_return


def forward_pass(data, policy):
    image_data, qpos_data, action_data, is_pad = data
    image_data, qpos_data, action_data, is_pad = (
        image_data.cuda(),
        qpos_data.cuda(),
        action_data.cuda(),
        is_pad.cuda(),
    )
    return policy(qpos_data, image_data, action_data, is_pad)  # TODO remove None


def train_bc(train_dataloader, val_dataloader, config):
    num_epochs = config["num_epochs"]
    ckpt_dir = config["ckpt_dir"]
    seed = config["seed"]
    policy_class = config["policy_class"]
    policy_config = config["policy_config"]

    set_seed(seed)

    policy = make_policy(policy_class, policy_config)
    policy.cuda()
    optimizer = make_optimizer(policy_class, policy)

    train_history = []
    validation_history = []
    min_val_loss = np.inf
    best_ckpt_info = None

    for epoch in tqdm(range(num_epochs)):
        print(f"\nEpoch {epoch}")
        # validation
        with torch.inference_mode():
            policy.eval()
            epoch_dicts = []
            for batch_idx, data in enumerate(val_dataloader):
                forward_dict = forward_pass(data, policy)
                epoch_dicts.append(forward_dict)
            epoch_summary = compute_dict_mean(epoch_dicts)
            validation_history.append(epoch_summary)

            epoch_val_loss = epoch_summary["loss"]
            if epoch_val_loss < min_val_loss:
                min_val_loss = epoch_val_loss
                best_ckpt_info = (epoch, min_val_loss, deepcopy(policy.state_dict()))
        print(f"Val loss:   {epoch_val_loss:.5f}")
        summary_string = ""
        for k, v in epoch_summary.items():
            summary_string += f"{k}: {v.item():.3f} "

        # training
        policy.train()
        optimizer.zero_grad()
        for batch_idx, data in enumerate(train_dataloader):
            forward_dict = forward_pass(data, policy)
            # backward
            loss = forward_dict["loss"]
            loss.backward()
            optimizer.step()
            optimizer.zero_grad()
            train_history.append(detach_dict(forward_dict))
        epoch_summary = compute_dict_mean(train_history[(batch_idx + 1) * epoch:(batch_idx + 1) * (epoch + 1)])
        epoch_train_loss = epoch_summary["loss"]
        print(f"Train loss: {epoch_train_loss:.5f}")
        summary_string = ""
        for k, v in epoch_summary.items():
            summary_string += f"{k}: {v.item():.3f} "

        if (epoch + 1) % config['save_freq'] == 0:
            ckpt_path = os.path.join(ckpt_dir, f"policy_epoch_{epoch + 1}_seed_{seed}.ckpt")
            torch.save(policy.state_dict(), ckpt_path)
            plot_history(train_history, validation_history, epoch, ckpt_dir, seed)

    ckpt_path = os.path.join(ckpt_dir, f"policy_last.ckpt")
    torch.save(policy.state_dict(), ckpt_path)

    best_epoch, min_val_loss, best_state_dict = best_ckpt_info
    ckpt_path = os.path.join(ckpt_dir, f"policy_epoch_{best_epoch}_seed_{seed}.ckpt")
    torch.save(best_state_dict, ckpt_path)
    print(f"Training finished:\nSeed {seed}, val loss {min_val_loss:.6f} at epoch {best_epoch}")

    # save training curves
    plot_history(train_history, validation_history, num_epochs, ckpt_dir, seed)

    return best_ckpt_info


def plot_history(train_history, validation_history, num_epochs, ckpt_dir, seed):
    # save training curves
    for key in train_history[0]:
        plot_path = os.path.join(ckpt_dir, f"train_val_{key}_seed_{seed}.png")
        plt.figure()
        train_values = [summary[key].item() for summary in train_history]
        val_values = [summary[key].item() for summary in validation_history]
        plt.plot(
            np.linspace(0, num_epochs - 1, len(train_history)),
            train_values,
            label="train",
        )
        plt.plot(
            np.linspace(0, num_epochs - 1, len(validation_history)),
            val_values,
            label="validation",
        )
        # plt.ylim([-0.1, 1])
        plt.tight_layout()
        plt.legend()
        plt.title(key)
        plt.savefig(plot_path)
    print(f"Saved plots to {ckpt_dir}")


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--eval", action="store_true")
    parser.add_argument("--onscreen_render", action="store_true")
    parser.add_argument("--ckpt_dir", action="store", type=str, help="ckpt_dir", required=True)
    parser.add_argument(
        "--policy_class",
        action="store",
        type=str,
        help="policy_class, capitalize",
        required=True,
    )
    parser.add_argument("--task_name", action="store", type=str, help="task_name", required=True)
    parser.add_argument("--batch_size", action="store", type=int, help="batch_size", required=True)
    parser.add_argument("--seed", action="store", type=int, help="seed", required=True)
    parser.add_argument("--num_epochs", action="store", type=int, help="num_epochs", required=True)
    parser.add_argument("--lr", action="store", type=float, help="lr", required=True)

    # for ACT
    parser.add_argument("--kl_weight", action="store", type=int, help="KL Weight", required=False)
    parser.add_argument("--chunk_size", action="store", type=int, help="chunk_size", required=False)
    parser.add_argument("--hidden_dim", action="store", type=int, help="hidden_dim", required=False)
    parser.add_argument("--state_dim", action="store", type=int, help="state dim", required=True)
    parser.add_argument("--save_freq", action="store", type=int, help="save ckpt frequency", required=False, default=6000)
    parser.add_argument(
        "--dim_feedforward",
        action="store",
        type=int,
        help="dim_feedforward",
        required=False,
    )
    parser.add_argument("--temporal_agg", action="store_true")

    main(vars(parser.parse_args()))
