# Copyright (c) Facebook, Inc. and its affiliates.
import copy
import math
from typing import Optional

import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F

import sacae.utils as utils
from sacae.decoder import make_decoder
from sacae.encoder import make_encoder

LOG_FREQ = 10000


def gaussian_logprob(noise, log_std):
    """Compute Gaussian log probability."""
    residual = (-0.5 * noise.pow(2) - log_std).sum(-1, keepdim=True)
    return residual - 0.5 * np.log(2 * np.pi) * noise.size(-1)


def squash(mu, pi, log_pi):
    """Apply squashing function.
    See appendix C from https://arxiv.org/pdf/1812.05905.pdf.
    """
    mu = torch.tanh(mu)
    if pi is not None:
        pi = torch.tanh(pi)
    if log_pi is not None:
        log_pi -= torch.log(F.relu(1 - pi.pow(2)) + 1e-6).sum(-1, keepdim=True)
    return mu, pi, log_pi


def weight_init(m):
    """Custom weight init for Conv2D and Linear layers."""
    if isinstance(m, nn.Linear):
        nn.init.orthogonal_(m.weight.data)
        m.bias.data.fill_(0.0)
    elif isinstance(m, nn.Conv2d) or isinstance(m, nn.ConvTranspose2d):
        # delta-orthogonal init from https://arxiv.org/pdf/1806.05393.pdf
        assert m.weight.size(2) == m.weight.size(3)
        m.weight.data.fill_(0.0)
        m.bias.data.fill_(0.0)
        mid = m.weight.size(2) // 2
        gain = nn.init.calculate_gain("relu")
        nn.init.orthogonal_(m.weight.data[:, :, mid, mid], gain)


class Actor(nn.Module):
    """MLP actor network."""

    def __init__(
        self,
        obs_shape,
        action_shape,
        hidden_dim,
        encoder_type,
        encoder_feature_dim,
        log_std_min,
        log_std_max,
        num_layers,
        num_filters,
        encoder: Optional[nn.Module] = None,
        encoder_cls=None,
        update_encoder_via_rl: bool = True,
    ):
        super().__init__()
        if encoder is None:
            if encoder_cls is None:
                self.encoder = make_encoder(
                    encoder_type,
                    obs_shape,
                    encoder_feature_dim,
                    num_layers,
                    num_filters,
                )
            else:
                self.encoder = encoder_cls(
                    encoder_type,
                    obs_shape,
                    encoder_feature_dim,
                    num_layers,
                    num_filters,
                )
        else:
            self.encoder = encoder

        self.log_std_min = log_std_min
        self.log_std_max = log_std_max

        self.trunk = nn.Sequential(
            nn.Linear(self.encoder.feature_dim, hidden_dim),
            nn.ReLU(),
            nn.Linear(hidden_dim, hidden_dim),
            nn.ReLU(),
            nn.Linear(hidden_dim, 2 * action_shape[0]),
        )

        self.outputs = dict()
        self.apply(weight_init)

    def forward(self, obs, compute_pi=True, compute_log_pi=True, detach_encoder=False):
        obs = self.encoder(obs, detach=detach_encoder)

        mu, log_std = self.trunk(obs).chunk(2, dim=-1)

        # constrain log_std inside [log_std_min, log_std_max]
        log_std = torch.tanh(log_std)
        log_std = self.log_std_min + 0.5 * (self.log_std_max - self.log_std_min) * (
            log_std + 1
        )

        self.outputs["mu"] = mu
        self.outputs["std"] = log_std.exp()

        if compute_pi:
            std = log_std.exp()
            noise = torch.randn_like(mu)
            pi = mu + noise * std
        else:
            pi = None
            entropy = None

        if compute_log_pi:
            log_pi = gaussian_logprob(noise, log_std)
        else:
            log_pi = None

        mu, pi, log_pi = squash(mu, pi, log_pi)

        return mu, pi, log_pi, log_std

    def log(self, L, step, log_freq=LOG_FREQ):
        if step % log_freq != 0:
            return

        for k, v in self.outputs.items():
            L.log_histogram("train_actor/%s_hist" % k, v, step)

        L.log_param("train_actor/fc1", self.trunk[0], step)
        L.log_param("train_actor/fc2", self.trunk[2], step)
        L.log_param("train_actor/fc3", self.trunk[4], step)


class QFunction(nn.Module):
    """MLP for q-function."""

    def __init__(self, obs_dim, action_dim, hidden_dim):
        super().__init__()

        self.trunk = nn.Sequential(
            nn.Linear(obs_dim + action_dim, hidden_dim),
            nn.ReLU(),
            nn.Linear(hidden_dim, hidden_dim),
            nn.ReLU(),
            nn.Linear(hidden_dim, 1),
        )

    def forward(self, obs, action):
        assert obs.size(0) == action.size(0)

        obs_action = torch.cat([obs, action], dim=1)
        return self.trunk(obs_action)


class Critic(nn.Module):
    """Critic network, employes two q-functions."""

    def __init__(
        self,
        obs_shape,
        action_shape,
        hidden_dim,
        encoder_type,
        encoder_feature_dim,
        num_layers,
        num_filters,
        encoder_cls=None,
    ):
        super().__init__()

        if encoder_cls is None:
            self.encoder = make_encoder(
                encoder_type, obs_shape, encoder_feature_dim, num_layers, num_filters
            )
        else:
            self.encoder = encoder_cls(
                encoder_type, obs_shape, encoder_feature_dim, num_layers, num_filters
            )

        self.Q1 = QFunction(self.encoder.feature_dim, action_shape[0], hidden_dim)
        self.Q2 = QFunction(self.encoder.feature_dim, action_shape[0], hidden_dim)

        self.outputs = dict()
        self.apply(weight_init)

    def forward(self, obs, action, detach_encoder=False):
        # detach_encoder allows to stop gradient propogation to encoder
        if detach_encoder:
            with torch.no_grad():
                obs = self.encoder(obs, detach=detach_encoder)

        else:
            obs = self.encoder(obs, detach=detach_encoder)
        # obs = self.encoder(obs, detach=detach_encoder)

        q1 = self.Q1(obs, action)
        q2 = self.Q2(obs, action)

        self.outputs["q1"] = q1
        self.outputs["q2"] = q2

        return q1, q2

    def log(self, L, step, log_freq=LOG_FREQ):
        if step % log_freq != 0:
            return

        self.encoder.log(L, step, log_freq)

        for k, v in self.outputs.items():
            L.log_histogram("train_critic/%s_hist" % k, v, step)

        for i in range(3):
            L.log_param("train_critic/q1_fc%d" % i, self.Q1.trunk[i * 2], step)
            L.log_param("train_critic/q2_fc%d" % i, self.Q2.trunk[i * 2], step)


class SacAeAgent(object):
    """SAC+AE algorithm."""

    def __init__(
        self,
        obs_shape,
        action_shape,
        device,
        hidden_dim=256,
        discount=0.99,
        init_temperature=0.01,
        alpha_lr=1e-3,
        alpha_beta=0.9,
        actor_lr=1e-3,
        actor_beta=0.9,
        actor_log_std_min=-10,
        actor_log_std_max=2,
        actor_update_freq=2,
        critic_lr=1e-3,
        critic_beta=0.9,
        critic_tau=0.005,
        critic_target_update_freq=2,
        encoder_type="pixel",
        encoder_feature_dim=50,
        encoder_lr=1e-3,
        encoder_tau=0.005,
        decoder_type="pixel",
        decoder_lr=1e-3,
        decoder_update_freq=1,
        decoder_latent_lambda=0.0,
        decoder_weight_lambda=0.0,
        num_layers=4,
        num_filters=32,
        update_encoder_via_rl: bool = False,
    ):
        self.device = device
        self.discount = discount
        self.critic_tau = critic_tau
        self.encoder_tau = encoder_tau
        self.actor_update_freq = actor_update_freq
        self.critic_target_update_freq = critic_target_update_freq
        self.decoder_update_freq = decoder_update_freq
        self.decoder_latent_lambda = decoder_latent_lambda
        self.update_encoder_via_rl = update_encoder_via_rl

        self.actor = Actor(
            obs_shape,
            action_shape,
            hidden_dim,
            encoder_type,
            encoder_feature_dim,
            actor_log_std_min,
            actor_log_std_max,
            num_layers,
            num_filters,
        ).to(device)

        self.critic = Critic(
            obs_shape,
            action_shape,
            hidden_dim,
            encoder_type,
            encoder_feature_dim,
            num_layers,
            num_filters,
        ).to(device)

        self.critic_target = Critic(
            obs_shape,
            action_shape,
            hidden_dim,
            encoder_type,
            encoder_feature_dim,
            num_layers,
            num_filters,
        ).to(device)

        self.critic_target.load_state_dict(self.critic.state_dict())

        # tie encoders between actor and critic
        self.actor.encoder.copy_conv_weights_from(self.critic.encoder)

        self.log_alpha = torch.tensor(np.log(init_temperature)).to(device)
        self.log_alpha.requires_grad = True
        # set target entropy to -|A|
        self.target_entropy = -np.prod(action_shape)

        self.decoder = None
        if decoder_type != "identity":
            # create decoder
            self.decoder = make_decoder(
                decoder_type, obs_shape, encoder_feature_dim, num_layers, num_filters
            ).to(device)
            self.decoder.apply(weight_init)

            # optimizer for critic encoder for reconstruction loss
            self.encoder_optimizer = torch.optim.Adam(
                self.critic.encoder.parameters(), lr=encoder_lr
            )

            # optimizer for decoder
            self.decoder_optimizer = torch.optim.Adam(
                self.decoder.parameters(),
                lr=decoder_lr,
                weight_decay=decoder_weight_lambda,
            )

        # optimizers
        self.actor_optimizer = torch.optim.Adam(
            self.actor.parameters(), lr=actor_lr, betas=(actor_beta, 0.999)
        )

        self.critic_optimizer = torch.optim.Adam(
            self.critic.parameters(), lr=critic_lr, betas=(critic_beta, 0.999)
        )

        self.log_alpha_optimizer = torch.optim.Adam(
            [self.log_alpha], lr=alpha_lr, betas=(alpha_beta, 0.999)
        )

        self.train()
        self.critic_target.train()

    def train(self, training=True):
        self.training = training
        self.actor.train(training)
        self.critic.train(training)
        if self.decoder is not None:
            self.decoder.train(training)

    @property
    def alpha(self):
        return self.log_alpha.exp()

    def select_action(self, obs):
        with torch.no_grad():
            obs = torch.FloatTensor(obs).to(self.device)
            if len(obs.shape) == 3:
                obs = obs.unsqueeze(0)
            mu, _, _, _ = self.actor(obs, compute_pi=False, compute_log_pi=False)
            return mu.cpu()
            # return mu.cpu().data.numpy().flatten()

    def sample_action(self, obs):
        with torch.no_grad():
            obs = torch.FloatTensor(obs).to(self.device)
            if len(obs.shape) == 3:
                obs = obs.unsqueeze(0)
            mu, pi, _, _ = self.actor(obs, compute_log_pi=False)
            return pi.cpu()
            # return pi.cpu().data.numpy().flatten()

    def update_critic(self, obs, action, reward, next_obs, not_done, L, step):
        with torch.no_grad():
            _, policy_action, log_pi, _ = self.actor(next_obs)
            target_Q1, target_Q2 = self.critic_target(next_obs, policy_action)
            target_V = torch.min(target_Q1, target_Q2) - self.alpha.detach() * log_pi
            target_Q = reward + (not_done * self.discount * target_V)

        # get current Q estimates
        current_Q1, current_Q2 = self.critic(obs, action)
        critic_loss = F.mse_loss(current_Q1, target_Q) + F.mse_loss(
            current_Q2, target_Q
        )
        L.log("train_critic/loss", critic_loss, step)

        # Optimize the critic
        self.critic_optimizer.zero_grad()
        critic_loss.backward()
        self.critic_optimizer.step()

        self.critic.log(L, step)

    def update_actor_and_alpha(self, obs, L, step):
        # detach encoder, so we don't update it with the actor loss
        _, pi, log_pi, log_std = self.actor(obs, detach_encoder=True)
        actor_Q1, actor_Q2 = self.critic(obs, pi, detach_encoder=True)

        actor_Q = torch.min(actor_Q1, actor_Q2)
        actor_loss = (self.alpha.detach() * log_pi - actor_Q).mean()

        L.log("train_actor/loss", actor_loss, step)
        L.log("train_actor/target_entropy", self.target_entropy, step)
        entropy = 0.5 * log_std.shape[1] * (1.0 + np.log(2 * np.pi)) + log_std.sum(
            dim=-1
        )
        L.log("train_actor/entropy", entropy.mean(), step)

        # optimize the actor
        self.actor_optimizer.zero_grad()
        actor_loss.backward()
        self.actor_optimizer.step()

        self.actor.log(L, step)

        self.log_alpha_optimizer.zero_grad()
        alpha_loss = (self.alpha * (-log_pi - self.target_entropy).detach()).mean()
        L.log("train_alpha/loss", alpha_loss, step)
        L.log("train_alpha/value", self.alpha, step)
        alpha_loss.backward()
        self.log_alpha_optimizer.step()

    def update_decoder(self, obs, target_obs, L, step):
        h = self.critic.encoder(obs)

        if target_obs.dim() == 4:
            # preprocess images to be in [-0.5, 0.5] range
            target_obs = utils.preprocess_obs(target_obs)
        rec_obs = self.decoder(h)
        rec_loss = F.mse_loss(target_obs, rec_obs)

        # add L2 penalty on latent representation
        # see https://arxiv.org/pdf/1903.12436.pdf
        latent_loss = (0.5 * h.pow(2).sum(1)).mean()

        loss = rec_loss + self.decoder_latent_lambda * latent_loss
        self.encoder_optimizer.zero_grad()
        self.decoder_optimizer.zero_grad()
        loss.backward()

        self.encoder_optimizer.step()
        self.decoder_optimizer.step()
        L.log("train/ae_loss", loss, step)

        self.decoder.log(L, step, log_freq=LOG_FREQ)

    def update(self, replay_buffer, L, step):
        obs, action, reward, next_obs, not_done = replay_buffer.sample()

        L.log("train/batch_reward", reward.mean(), step)

        self.update_critic(obs, action, reward, next_obs, not_done, L, step)

        if step % self.actor_update_freq == 0:
            self.update_actor_and_alpha(obs, L, step)

        if step % self.critic_target_update_freq == 0:
            utils.soft_update_params(
                self.critic.Q1, self.critic_target.Q1, self.critic_tau
            )
            utils.soft_update_params(
                self.critic.Q2, self.critic_target.Q2, self.critic_tau
            )
            utils.soft_update_params(
                self.critic.encoder, self.critic_target.encoder, self.encoder_tau
            )

        if self.decoder is not None and step % self.decoder_update_freq == 0:
            self.update_decoder(obs, obs, L, step)

    def save(self, model_dir, step):
        torch.save(self.actor.state_dict(), "%s/actor_%s.pt" % (model_dir, step))
        torch.save(self.critic.state_dict(), "%s/critic_%s.pt" % (model_dir, step))
        torch.save(
            self.critic_target.state_dict(),
            "%s/critic_target_%s.pt" % (model_dir, step),
        )
        if self.decoder is not None:
            torch.save(
                self.decoder.state_dict(), "%s/decoder_%s.pt" % (model_dir, step)
            )

    def load(self, model_dir, step):
        self.actor.load_state_dict(torch.load("%s/actor_%s.pt" % (model_dir, step)))
        self.critic.load_state_dict(torch.load("%s/critic_%s.pt" % (model_dir, step)))
        self.critic_target.load_state_dict(
            torch.load("%s/critic_target_%s.pt" % (model_dir, step))
        )
        if self.decoder is not None:
            self.decoder.load_state_dict(
                torch.load("%s/decoder_%s.pt" % (model_dir, step))
            )
