from typing import Dict, List, Optional, Union

import gym.envs.classic_control as gccenvs
import numpy as np

from carl.context.selection import AbstractSelector
from carl.envs.carl_env import CARLEnv
from carl.utils.trial_logger import TrialLogger
from carl.utils.types import Context, Contexts

DEFAULT_CONTEXT = {
    "min_position": -1.2,
    "max_position": 0.6,
    "max_speed": 0.07,
    "goal_position": 0.45,
    "goal_velocity": 0.0,
    "power": 0.0015,
    # "gravity": 0.0025,  # currently hardcoded in step
    "min_position_start": -0.6,
    "max_position_start": -0.4,
    "min_velocity_start": 0.0,
    "max_velocity_start": 0.0,
}
CONTEXT_BOUNDS = {
    "min_position": (-np.inf, np.inf, float),
    "max_position": (-np.inf, np.inf, float),
    "max_speed": (0, np.inf, float),
    "goal_position": (-np.inf, np.inf, float),
    "goal_velocity": (-np.inf, np.inf, float),
    "power": (-np.inf, np.inf, float),
    # "force": (-np.inf, np.inf),
    # "gravity": (0, np.inf),
    "min_position_start": (-np.inf, np.inf, float),  # TODO need to check these
    "max_position_start": (-np.inf, np.inf, float),
    "min_velocity_start": (-np.inf, np.inf, float),
    "max_velocity_start": (-np.inf, np.inf, float),
}


class CustomMountainCarContinuousEnv(
    gccenvs.continuous_mountain_car.Continuous_MountainCarEnv
):
    def __init__(self, goal_velocity: float = 0.0):
        super(CustomMountainCarContinuousEnv, self).__init__(
            goal_velocity=goal_velocity
        )
        self.min_position_start = -0.6
        self.max_position_start = -0.4
        self.min_velocity_start = 0.0
        self.max_velocity_start = 0.0

    def reset_state(self) -> np.ndarray:
        return np.array(
            [
                self.np_random.uniform(
                    low=self.min_position_start, high=self.max_position_start
                ),  # sample start position
                self.np_random.uniform(
                    low=self.min_velocity_start, high=self.max_velocity_start
                ),  # sample start velocity
            ]
        )


class CARLMountainCarContinuousEnv(CARLEnv):
    def __init__(
        self,
        env: CustomMountainCarContinuousEnv = CustomMountainCarContinuousEnv(),
        contexts: Contexts = {},
        hide_context: bool = True,
        add_gaussian_noise_to_context: bool = True,
        gaussian_noise_std_percentage: float = 0.01,
        logger: Optional[TrialLogger] = None,
        scale_context_features: str = "no",
        default_context: Optional[Context] = DEFAULT_CONTEXT,
        max_episode_length: int = 999,  # from https://github.com/openai/gym/blob/master/gym/envs/__init__.py
        state_context_features: Optional[List[str]] = None,
        context_mask: Optional[List[str]] = None,
        dict_observation_space: bool = False,
        context_selector: Optional[
            Union[AbstractSelector, type[AbstractSelector]]
        ] = None,
        context_selector_kwargs: Optional[Dict] = None,
    ):
        """

        Parameters
        ----------
        env: gym.Env, optional
            Defaults to classic control environment mountain car from gym (MountainCarEnv).
        contexts: List[Dict], optional
            Different contexts / different environment parameter settings.
        instance_mode: str, optional
        """
        if not contexts:
            contexts = {0: DEFAULT_CONTEXT}
        super().__init__(
            env=env,
            contexts=contexts,
            hide_context=hide_context,
            add_gaussian_noise_to_context=add_gaussian_noise_to_context,
            gaussian_noise_std_percentage=gaussian_noise_std_percentage,
            logger=logger,
            scale_context_features=scale_context_features,
            default_context=default_context,
            max_episode_length=max_episode_length,
            state_context_features=state_context_features,
            dict_observation_space=dict_observation_space,
            context_selector=context_selector,
            context_selector_kwargs=context_selector_kwargs,
            context_mask=context_mask,
        )
        self.whitelist_gaussian_noise = list(
            DEFAULT_CONTEXT.keys()
        )  # allow to augment all values

    def _update_context(self) -> None:
        self.env: CustomMountainCarContinuousEnv
        self.env.min_position = self.context["min_position"]
        self.env.max_position = self.context["max_position"]
        self.env.max_speed = self.context["max_speed"]
        self.env.goal_position = self.context["goal_position"]
        self.env.goal_velocity = self.context["goal_velocity"]
        self.env.min_position_start = self.context["min_position_start"]
        self.env.max_position_start = self.context["max_position_start"]
        self.env.min_velocity_start = self.context["min_velocity_start"]
        self.env.max_velocity_start = self.context["max_velocity_start"]
        self.env.power = self.context["power"]
        # self.env.force = self.context["force"]
        # self.env.gravity = self.context["gravity"]

        self.low = np.array(
            [self.env.min_position, -self.env.max_speed], dtype=np.float32
        ).squeeze()
        self.high = np.array(
            [self.env.max_position, self.env.max_speed], dtype=np.float32
        ).squeeze()

        self.build_observation_space(self.low, self.high, CONTEXT_BOUNDS)
