import numpy as np
from maml_zoo.utils.serializable import Serializable
from gym.spaces import Box
# from rand_param_envs.gym.spaces import Box as OldBox

"""
Normalizes the environment class.

Args:
    EnvCls (gym.Env): class of the unnormalized gym environment
    env_args (dict or None): arguments of the environment
    scale_reward (float): scale of the reward
    normalize_obs (bool): whether normalize the observations or not
    normalize_reward (bool): whether normalize the reward or not
    obs_alpha (float): step size of the running mean and variance for the observations
    reward_alpha (float): step size of the running mean and variance for the observations

Returns:
    Normalized environment

"""


class NormalizedEnv(Serializable):
    """
    Normalizes the environment class.

    Args:
        Env (gym.Env): class of the unnormalized gym environment
        scale_reward (float): scale of the reward
        normalize_obs (bool): whether normalize the observations or not
        normalize_reward (bool): whether normalize the reward or not
        obs_alpha (float): step size of the running mean and variance for the observations
        reward_alpha (float): step size of the running mean and variance for the observations

    """
    def __init__(self,
                 env,
                 scale_reward=1.,
                 normalize_obs=False,
                 normalize_reward=False,
                 obs_alpha=0.001,
                 reward_alpha=0.001,
                 normalization_scale=10.,
                 ):
        Serializable.quick_init(self, locals())

        self._scale_reward = 1
        self._wrapped_env = env

        self._normalize_obs = normalize_obs
        self._normalize_reward = normalize_reward
        self._obs_alpha = obs_alpha
        self._obs_mean = np.zeros(self.observation_space.shape)
        self._obs_var = np.ones(self.observation_space.shape)
        self._reward_alpha = reward_alpha
        self._reward_mean = 0.
        self._reward_var = 1.
        self._normalization_scale = normalization_scale

    @property
    def action_space(self):
        if isinstance(self._wrapped_env.action_space, Box):
            ub = np.ones(self._wrapped_env.action_space.shape) * self._normalization_scale
            return Box(-1 * ub, ub, dtype=np.float32)
        return self._wrapped_env.action_space

    def __getattr__(self, attr):
        """
        If normalized env does not have the attribute then call the attribute in the wrapped_env
        Args:
            attr: attribute to get

        Returns:
            attribute of the wrapped_env

        """
        orig_attr = self._wrapped_env.__getattribute__(attr)

        if callable(orig_attr):
            def hooked(*args, **kwargs):
                result = orig_attr(*args, **kwargs)
                return result

            return hooked
        else:
            return orig_attr

    def _update_obs_estimate(self, obs):
        o_a = self._obs_alpha
        self._obs_mean = (1 - o_a) * self._obs_mean + o_a * obs
        self._obs_var = (1 - o_a) * self._obs_var + o_a * np.square(obs - self._obs_mean)

    def _update_reward_estimate(self, reward):
        r_a = self._reward_alpha
        self._reward_mean = (1 - r_a) * self._reward_mean + r_a * reward
        self._reward_var = (1 - r_a) * self._reward_var + r_a * np.square(reward - self._reward_mean)

    def _apply_normalize_obs(self, obs):
        self._update_obs_estimate(obs)
        return (obs - self._obs_mean) / (np.sqrt(self._obs_var) + 1e-8)

    def _apply_normalize_reward(self, reward):
        self._update_reward_estimate(reward)
        return reward / (np.sqrt(self._reward_var) + 1e-8)

    def reset(self):
        obs = self._wrapped_env.reset()
        if self._normalize_obs:
            return self._apply_normalize_obs(obs)
        else:
            return obs

    def __getstate__(self):
        d = Serializable.__getstate__(self)
        d["_obs_mean"] = self._obs_mean
        d["_obs_var"] = self._obs_var
        return d

    def __setstate__(self, d):
        Serializable.__setstate__(self, d)
        self._obs_mean = d["_obs_mean"]
        self._obs_var = d["_obs_var"]

    def step(self, action):
        if isinstance(self._wrapped_env.action_space, Box):  # or isinstance(self._wrapped_env.action_space, OldBox):
            # rescale the action
            lb, ub = self._wrapped_env.action_space.low, self._wrapped_env.action_space.high
            scaled_action = lb + (action + self._normalization_scale) * (ub - lb) / (2 * self._normalization_scale)
            scaled_action = np.clip(scaled_action, lb, ub)
        else:
            scaled_action = action
            print("here!!")
        wrapped_step = self._wrapped_env.step(scaled_action)
        next_obs, reward, done, info = wrapped_step
        if getattr(self, "_normalize_obs", False):
            next_obs = self._apply_normalize_obs(next_obs)
        if getattr(self, "_normalize_reward", False):
            reward = self._apply_normalize_reward(reward)
        return next_obs, reward * self._scale_reward, done, info


normalize = NormalizedEnv
