from collections import Counter
import gym
import numpy as np
import os
import random
import time
import unittest

import ray
from ray.rllib.agents.pg import PGTrainer
from ray.rllib.agents.a3c import A2CTrainer
from ray.rllib.env.vector_env import VectorEnv
from ray.rllib.evaluation.rollout_worker import RolloutWorker
from ray.rllib.evaluation.metrics import collect_metrics
from ray.rllib.evaluation.postprocessing import compute_advantages
from ray.rllib.examples.policy.random_policy import RandomPolicy
from ray.rllib.policy.policy import Policy
from ray.rllib.policy.sample_batch import DEFAULT_POLICY_ID, SampleBatch
from ray.rllib.utils.annotations import override
from ray.rllib.utils.test_utils import check, framework_iterator
from ray.tune.registry import register_env


class MockPolicy(RandomPolicy):
    @override(RandomPolicy)
    def compute_actions(self,
                        obs_batch,
                        state_batches=None,
                        prev_action_batch=None,
                        prev_reward_batch=None,
                        episodes=None,
                        explore=None,
                        timestep=None,
                        **kwargs):
        return np.array([random.choice([0, 1])] * len(obs_batch)), [], {}

    @override(Policy)
    def postprocess_trajectory(self,
                               batch,
                               other_agent_batches=None,
                               episode=None):
        assert episode is not None
        super().postprocess_trajectory(batch, other_agent_batches, episode)
        return compute_advantages(
            batch, 100.0, 0.9, use_gae=False, use_critic=False)


class BadPolicy(RandomPolicy):
    @override(RandomPolicy)
    def compute_actions(self,
                        obs_batch,
                        state_batches=None,
                        prev_action_batch=None,
                        prev_reward_batch=None,
                        episodes=None,
                        explore=None,
                        timestep=None,
                        **kwargs):
        raise Exception("intentional error")


class FailOnStepEnv(gym.Env):
    def __init__(self):
        self.observation_space = gym.spaces.Discrete(1)
        self.action_space = gym.spaces.Discrete(2)

    def reset(self):
        raise ValueError("kaboom")

    def step(self, action):
        raise ValueError("kaboom")


class MockEnv(gym.Env):
    def __init__(self, episode_length, config=None):
        self.episode_length = episode_length
        self.config = config
        self.i = 0
        self.observation_space = gym.spaces.Discrete(1)
        self.action_space = gym.spaces.Discrete(2)

    def reset(self):
        self.i = 0
        return self.i

    def step(self, action):
        self.i += 1
        return 0, 1, self.i >= self.episode_length, {}


class MockEnv2(gym.Env):
    def __init__(self, episode_length):
        self.episode_length = episode_length
        self.i = 0
        self.observation_space = gym.spaces.Discrete(100)
        self.action_space = gym.spaces.Discrete(2)

    def reset(self):
        self.i = 0
        return self.i

    def step(self, action):
        self.i += 1
        return self.i, 100, self.i >= self.episode_length, {}


class MockVectorEnv(VectorEnv):
    def __init__(self, episode_length, num_envs):
        super().__init__(
            observation_space=gym.spaces.Discrete(1),
            action_space=gym.spaces.Discrete(2),
            num_envs=num_envs)
        self.envs = [MockEnv(episode_length) for _ in range(num_envs)]

    @override(VectorEnv)
    def vector_reset(self):
        return [e.reset() for e in self.envs]

    @override(VectorEnv)
    def reset_at(self, index):
        return self.envs[index].reset()

    @override(VectorEnv)
    def vector_step(self, actions):
        obs_batch, rew_batch, done_batch, info_batch = [], [], [], []
        for i in range(len(self.envs)):
            obs, rew, done, info = self.envs[i].step(actions[i])
            obs_batch.append(obs)
            rew_batch.append(rew)
            done_batch.append(done)
            info_batch.append(info)
        return obs_batch, rew_batch, done_batch, info_batch

    @override(VectorEnv)
    def get_unwrapped(self):
        return self.envs


class TestRolloutWorker(unittest.TestCase):
    @classmethod
    def setUpClass(cls):
        ray.init(num_cpus=5)

    @classmethod
    def tearDownClass(cls):
        ray.shutdown()

    def test_basic(self):
        ev = RolloutWorker(
            env_creator=lambda _: gym.make("CartPole-v0"), policy=MockPolicy)
        batch = ev.sample()
        for key in [
                "obs", "actions", "rewards", "dones", "advantages",
                "prev_rewards", "prev_actions"
        ]:
            self.assertIn(key, batch)
            self.assertGreater(np.abs(np.mean(batch[key])), 0)

        def to_prev(vec):
            out = np.zeros_like(vec)
            for i, v in enumerate(vec):
                if i + 1 < len(out) and not batch["dones"][i]:
                    out[i + 1] = v
            return out.tolist()

        self.assertEqual(batch["prev_rewards"].tolist(),
                         to_prev(batch["rewards"]))
        self.assertEqual(batch["prev_actions"].tolist(),
                         to_prev(batch["actions"]))
        self.assertGreater(batch["advantages"][0], 1)
        ev.stop()

    def test_batch_ids(self):
        ev = RolloutWorker(
            env_creator=lambda _: gym.make("CartPole-v0"),
            policy=MockPolicy,
            rollout_fragment_length=1)
        batch1 = ev.sample()
        batch2 = ev.sample()
        self.assertEqual(len(set(batch1["unroll_id"])), 1)
        self.assertEqual(len(set(batch2["unroll_id"])), 1)
        self.assertEqual(
            len(set(SampleBatch.concat(batch1, batch2)["unroll_id"])), 2)
        ev.stop()

    def test_global_vars_update(self):
        # Allow for Unittest run.
        ray.init(num_cpus=5, ignore_reinit_error=True)
        for fw in framework_iterator(frameworks=()):
            agent = A2CTrainer(
                env="CartPole-v0",
                config={
                    "num_workers": 1,
                    "lr_schedule": [[0, 0.1], [100000, 0.000001]],
                    "framework": fw,
                })
            result = agent.train()
            for i in range(10):
                result = agent.train()
                print("num_steps_sampled={}".format(
                    result["info"]["num_steps_sampled"]))
                print("num_steps_trained={}".format(
                    result["info"]["num_steps_trained"]))
                print("num_steps_sampled={}".format(
                    result["info"]["num_steps_sampled"]))
                print("num_steps_trained={}".format(
                    result["info"]["num_steps_trained"]))
                if i == 0:
                    self.assertGreater(
                        result["info"]["learner"]["default_policy"]["cur_lr"],
                        0.01)
                if result["info"]["learner"]["default_policy"]["cur_lr"] < \
                        0.07:
                    break
            self.assertLess(
                result["info"]["learner"]["default_policy"]["cur_lr"], 0.07)
            agent.stop()

    def test_no_step_on_init(self):
        register_env("fail", lambda _: FailOnStepEnv())
        for fw in framework_iterator(frameworks=()):
            pg = PGTrainer(
                env="fail", config={
                    "num_workers": 1,
                    "framework": fw,
                })
            self.assertRaises(Exception, lambda: pg.train())
            pg.stop()

    def test_callbacks(self):
        for fw in framework_iterator(frameworks=("torch", "tf")):
            counts = Counter()
            pg = PGTrainer(
                env="CartPole-v0", config={
                    "num_workers": 0,
                    "rollout_fragment_length": 50,
                    "train_batch_size": 50,
                    "callbacks": {
                        "on_episode_start":
                            lambda x: counts.update({"start": 1}),
                        "on_episode_step":
                            lambda x: counts.update({"step": 1}),
                        "on_episode_end": lambda x: counts.update({"end": 1}),
                        "on_sample_end":
                            lambda x: counts.update({"sample": 1}),
                    },
                    "framework": fw,
                })
            pg.train()
            pg.train()
            self.assertGreater(counts["sample"], 0)
            self.assertGreater(counts["start"], 0)
            self.assertGreater(counts["end"], 0)
            self.assertGreater(counts["step"], 0)
            pg.stop()

    def test_query_evaluators(self):
        register_env("test", lambda _: gym.make("CartPole-v0"))
        for fw in framework_iterator(frameworks=("torch", "tf")):
            pg = PGTrainer(
                env="test",
                config={
                    "num_workers": 2,
                    "rollout_fragment_length": 5,
                    "num_envs_per_worker": 2,
                    "framework": fw,
                })
            results = pg.workers.foreach_worker(
                lambda ev: ev.rollout_fragment_length)
            results2 = pg.workers.foreach_worker_with_index(
                lambda ev, i: (i, ev.rollout_fragment_length))
            results3 = pg.workers.foreach_worker(
                lambda ev: ev.foreach_env(lambda env: 1))
            self.assertEqual(results, [10, 10, 10])
            self.assertEqual(results2, [(0, 10), (1, 10), (2, 10)])
            self.assertEqual(results3, [[1, 1], [1, 1], [1, 1]])
            pg.stop()

    def test_action_clipping(self):
        from ray.rllib.examples.env.random_env import RandomEnv
        action_space = gym.spaces.Box(-2.0, 1.0, (3, ))

        # Clipping: True (clip between Policy's action_space.low/high),
        ev = RolloutWorker(
            env_creator=lambda _: RandomEnv(config=dict(
                action_space=action_space,
                max_episode_len=10,
                p_done=0.0,
                check_action_bounds=True,
            )),
            policy=RandomPolicy,
            policy_config=dict(
                action_space=action_space,
                ignore_action_bounds=True,
            ),
            clip_actions=True,
            batch_mode="complete_episodes")
        sample = ev.sample()
        # Check, whether the action bounds have been breached (expected).
        # We still arrived here b/c we clipped according to the Env's action
        # space.
        self.assertGreater(np.max(sample["actions"]), action_space.high[0])
        self.assertLess(np.min(sample["actions"]), action_space.low[0])
        ev.stop()

        # Clipping: False and RandomPolicy produces invalid actions.
        # Expect Env to complain.
        ev2 = RolloutWorker(
            env_creator=lambda _: RandomEnv(config=dict(
                action_space=action_space,
                max_episode_len=10,
                p_done=0.0,
                check_action_bounds=True,
            )),
            policy=RandomPolicy,
            policy_config=dict(
                action_space=action_space,
                ignore_action_bounds=True,
            ),
            clip_actions=False,  # <- should lead to Env complaining
            batch_mode="complete_episodes")
        self.assertRaisesRegex(ValueError, r"Illegal action", ev2.sample)
        ev2.stop()

        # Clipping: False and RandomPolicy produces valid (bounded) actions.
        # Expect "actions" in SampleBatch to be unclipped.
        ev3 = RolloutWorker(
            env_creator=lambda _: RandomEnv(config=dict(
                action_space=action_space,
                max_episode_len=10,
                p_done=0.0,
                check_action_bounds=True,
            )),
            policy=RandomPolicy,
            policy_config=dict(action_space=action_space),
            # Should not be a problem as RandomPolicy abides to bounds.
            clip_actions=False,
            batch_mode="complete_episodes")
        sample = ev3.sample()
        self.assertGreater(np.min(sample["actions"]), action_space.low[0])
        self.assertLess(np.max(sample["actions"]), action_space.high[0])
        ev3.stop()

    def test_reward_clipping(self):
        # Clipping: True (clip between -1.0 and 1.0).
        ev = RolloutWorker(
            env_creator=lambda _: MockEnv2(episode_length=10),
            policy=MockPolicy,
            clip_rewards=True,
            batch_mode="complete_episodes")
        self.assertEqual(max(ev.sample()["rewards"]), 1)
        result = collect_metrics(ev, [])
        self.assertEqual(result["episode_reward_mean"], 1000)
        ev.stop()

        from ray.rllib.examples.env.random_env import RandomEnv

        # Clipping in certain range (-2.0, 2.0).
        ev2 = RolloutWorker(
            env_creator=lambda _: RandomEnv(
                dict(
                    reward_space=gym.spaces.Box(low=-10, high=10, shape=()),
                    p_done=0.0,
                    max_episode_len=10,
                )),
            policy=MockPolicy,
            clip_rewards=2.0,
            batch_mode="complete_episodes")
        sample = ev2.sample()
        self.assertEqual(max(sample["rewards"]), 2.0)
        self.assertEqual(min(sample["rewards"]), -2.0)
        self.assertLess(np.mean(sample["rewards"]), 0.5)
        self.assertGreater(np.mean(sample["rewards"]), -0.5)
        ev2.stop()

        # Clipping: Off.
        ev2 = RolloutWorker(
            env_creator=lambda _: MockEnv2(episode_length=10),
            policy=MockPolicy,
            clip_rewards=False,
            batch_mode="complete_episodes")
        self.assertEqual(max(ev2.sample()["rewards"]), 100)
        result2 = collect_metrics(ev2, [])
        self.assertEqual(result2["episode_reward_mean"], 1000)
        ev2.stop()

    def test_hard_horizon(self):
        ev = RolloutWorker(
            env_creator=lambda _: MockEnv2(episode_length=10),
            policy=MockPolicy,
            batch_mode="complete_episodes",
            rollout_fragment_length=10,
            episode_horizon=4,
            soft_horizon=False)
        samples = ev.sample()
        # Three logical episodes and correct episode resets (always after 4
        # steps).
        self.assertEqual(len(set(samples["eps_id"])), 3)
        for i in range(4):
            self.assertEqual(np.argmax(samples["obs"][i]), i)
        self.assertEqual(np.argmax(samples["obs"][4]), 0)
        # 3 done values.
        self.assertEqual(sum(samples["dones"]), 3)
        ev.stop()

        # A gym env's max_episode_steps is smaller than Trainer's horizon.
        ev = RolloutWorker(
            env_creator=lambda _: gym.make("CartPole-v0"),
            policy=MockPolicy,
            batch_mode="complete_episodes",
            rollout_fragment_length=10,
            episode_horizon=6,
            soft_horizon=False)
        samples = ev.sample()
        # 12 steps due to `complete_episodes` batch_mode.
        self.assertEqual(len(samples["eps_id"]), 12)
        # Two logical episodes and correct episode resets (always after 6(!)
        # steps).
        self.assertEqual(len(set(samples["eps_id"])), 2)
        # 2 done values after 6 and 12 steps.
        check(samples["dones"], [
            False, False, False, False, False, True, False, False, False,
            False, False, True
        ])
        ev.stop()

    def test_soft_horizon(self):
        ev = RolloutWorker(
            env_creator=lambda _: MockEnv(episode_length=10),
            policy=MockPolicy,
            batch_mode="complete_episodes",
            rollout_fragment_length=10,
            episode_horizon=4,
            soft_horizon=True)
        samples = ev.sample()
        # three logical episodes
        self.assertEqual(len(set(samples["eps_id"])), 3)
        # only 1 hard done value
        self.assertEqual(sum(samples["dones"]), 1)
        ev.stop()

    def test_metrics(self):
        ev = RolloutWorker(
            env_creator=lambda _: MockEnv(episode_length=10),
            policy=MockPolicy,
            batch_mode="complete_episodes")
        remote_ev = RolloutWorker.as_remote().remote(
            env_creator=lambda _: MockEnv(episode_length=10),
            policy=MockPolicy,
            batch_mode="complete_episodes")
        ev.sample()
        ray.get(remote_ev.sample.remote())
        result = collect_metrics(ev, [remote_ev])
        self.assertEqual(result["episodes_this_iter"], 20)
        self.assertEqual(result["episode_reward_mean"], 10)
        ev.stop()

    def test_async(self):
        ev = RolloutWorker(
            env_creator=lambda _: gym.make("CartPole-v0"),
            sample_async=True,
            policy=MockPolicy)
        batch = ev.sample()
        for key in ["obs", "actions", "rewards", "dones", "advantages"]:
            self.assertIn(key, batch)
        self.assertGreater(batch["advantages"][0], 1)
        ev.stop()

    def test_auto_vectorization(self):
        ev = RolloutWorker(
            env_creator=lambda cfg: MockEnv(episode_length=20, config=cfg),
            policy=MockPolicy,
            batch_mode="truncate_episodes",
            rollout_fragment_length=2,
            num_envs=8)
        for _ in range(8):
            batch = ev.sample()
            self.assertEqual(batch.count, 16)
        result = collect_metrics(ev, [])
        self.assertEqual(result["episodes_this_iter"], 0)
        for _ in range(8):
            batch = ev.sample()
            self.assertEqual(batch.count, 16)
        result = collect_metrics(ev, [])
        self.assertEqual(result["episodes_this_iter"], 8)
        indices = []
        for env in ev.async_env.vector_env.envs:
            self.assertEqual(env.unwrapped.config.worker_index, 0)
            indices.append(env.unwrapped.config.vector_index)
        self.assertEqual(indices, [0, 1, 2, 3, 4, 5, 6, 7])
        ev.stop()

    def test_batches_larger_when_vectorized(self):
        ev = RolloutWorker(
            env_creator=lambda _: MockEnv(episode_length=8),
            policy=MockPolicy,
            batch_mode="truncate_episodes",
            rollout_fragment_length=4,
            num_envs=4)
        batch = ev.sample()
        self.assertEqual(batch.count, 16)
        result = collect_metrics(ev, [])
        self.assertEqual(result["episodes_this_iter"], 0)
        batch = ev.sample()
        result = collect_metrics(ev, [])
        self.assertEqual(result["episodes_this_iter"], 4)
        ev.stop()

    def test_vector_env_support(self):
        ev = RolloutWorker(
            env_creator=lambda _: MockVectorEnv(episode_length=20, num_envs=8),
            policy=MockPolicy,
            batch_mode="truncate_episodes",
            rollout_fragment_length=10)
        for _ in range(8):
            batch = ev.sample()
            self.assertEqual(batch.count, 10)
        result = collect_metrics(ev, [])
        self.assertEqual(result["episodes_this_iter"], 0)
        for _ in range(8):
            batch = ev.sample()
            self.assertEqual(batch.count, 10)
        result = collect_metrics(ev, [])
        self.assertEqual(result["episodes_this_iter"], 8)
        ev.stop()

    def test_truncate_episodes(self):
        ev = RolloutWorker(
            env_creator=lambda _: MockEnv(10),
            policy=MockPolicy,
            rollout_fragment_length=15,
            batch_mode="truncate_episodes")
        batch = ev.sample()
        self.assertEqual(batch.count, 15)
        ev.stop()

    def test_complete_episodes(self):
        ev = RolloutWorker(
            env_creator=lambda _: MockEnv(10),
            policy=MockPolicy,
            rollout_fragment_length=5,
            batch_mode="complete_episodes")
        batch = ev.sample()
        self.assertEqual(batch.count, 10)
        ev.stop()

    def test_complete_episodes_packing(self):
        ev = RolloutWorker(
            env_creator=lambda _: MockEnv(10),
            policy=MockPolicy,
            rollout_fragment_length=15,
            batch_mode="complete_episodes")
        batch = ev.sample()
        self.assertEqual(batch.count, 20)
        self.assertEqual(
            batch["t"].tolist(),
            [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9])
        ev.stop()

    def test_filter_sync(self):
        ev = RolloutWorker(
            env_creator=lambda _: gym.make("CartPole-v0"),
            policy=MockPolicy,
            sample_async=True,
            observation_filter="ConcurrentMeanStdFilter")
        time.sleep(2)
        ev.sample()
        filters = ev.get_filters(flush_after=True)
        obs_f = filters[DEFAULT_POLICY_ID]
        self.assertNotEqual(obs_f.rs.n, 0)
        self.assertNotEqual(obs_f.buffer.n, 0)
        ev.stop()

    def test_get_filters(self):
        ev = RolloutWorker(
            env_creator=lambda _: gym.make("CartPole-v0"),
            policy=MockPolicy,
            sample_async=True,
            observation_filter="ConcurrentMeanStdFilter")
        self.sample_and_flush(ev)
        filters = ev.get_filters(flush_after=False)
        time.sleep(2)
        filters2 = ev.get_filters(flush_after=False)
        obs_f = filters[DEFAULT_POLICY_ID]
        obs_f2 = filters2[DEFAULT_POLICY_ID]
        self.assertGreaterEqual(obs_f2.rs.n, obs_f.rs.n)
        self.assertGreaterEqual(obs_f2.buffer.n, obs_f.buffer.n)
        ev.stop()

    def test_sync_filter(self):
        ev = RolloutWorker(
            env_creator=lambda _: gym.make("CartPole-v0"),
            policy=MockPolicy,
            sample_async=True,
            observation_filter="ConcurrentMeanStdFilter")
        obs_f = self.sample_and_flush(ev)

        # Current State
        filters = ev.get_filters(flush_after=False)
        obs_f = filters[DEFAULT_POLICY_ID]

        self.assertLessEqual(obs_f.buffer.n, 20)

        new_obsf = obs_f.copy()
        new_obsf.rs._n = 100
        ev.sync_filters({DEFAULT_POLICY_ID: new_obsf})
        filters = ev.get_filters(flush_after=False)
        obs_f = filters[DEFAULT_POLICY_ID]
        self.assertGreaterEqual(obs_f.rs.n, 100)
        self.assertLessEqual(obs_f.buffer.n, 20)
        ev.stop()

    def test_extra_python_envs(self):
        extra_envs = {"env_key_1": "env_value_1", "env_key_2": "env_value_2"}
        self.assertFalse("env_key_1" in os.environ)
        self.assertFalse("env_key_2" in os.environ)
        ev = RolloutWorker(
            env_creator=lambda _: MockEnv(10),
            policy=MockPolicy,
            extra_python_environs=extra_envs)
        self.assertTrue("env_key_1" in os.environ)
        self.assertTrue("env_key_2" in os.environ)
        ev.stop()

        # reset to original
        del os.environ["env_key_1"]
        del os.environ["env_key_2"]

    def test_no_env_seed(self):