"""An example of customizing PPO to leverage a centralized critic.

Here the model and policy are hard-coded to implement a centralized critic
for TwoStepGame, but you can adapt this for your own use cases.

Compared to simply running `rllib/examples/two_step_game.py --run=PPO`,
this centralized critic version reaches vf_explained_variance=1.0 more stably
since it takes into account the opponent actions as well as the policy's.
Note that this is also using two independent policies instead of weight-sharing
with one.

See also: centralized_critic_2.py for a simpler approach that instead
modifies the environment.
"""

import argparse
import numpy as np
from gym.spaces import Discrete

import ray
from ray import tune
from ray.rllib.agents.ppo.ppo import PPOTrainer
from ray.rllib.agents.ppo.ppo_tf_policy import PPOTFPolicy, KLCoeffMixin, \
    ppo_surrogate_loss as tf_loss
from ray.rllib.agents.ppo.ppo_torch_policy import PPOTorchPolicy, \
    KLCoeffMixin as TorchKLCoeffMixin, ppo_surrogate_loss as torch_loss
from ray.rllib.evaluation.postprocessing import compute_advantages, \
    Postprocessing
from ray.rllib.examples.env.two_step_game import TwoStepGame
from ray.rllib.examples.models.centralized_critic_models import \
    CentralizedCriticModel, TorchCentralizedCriticModel
from ray.rllib.models import ModelCatalog
from ray.rllib.policy.sample_batch import SampleBatch
from ray.rllib.policy.tf_policy import LearningRateSchedule, \
    EntropyCoeffSchedule
from ray.rllib.policy.torch_policy import LearningRateSchedule as TorchLR, \
    EntropyCoeffSchedule as TorchEntropyCoeffSchedule
from ray.rllib.utils.framework import try_import_tf, try_import_torch
from ray.rllib.utils.test_utils import check_learning_achieved
from ray.rllib.utils.tf_ops import explained_variance, make_tf_callable
from ray.rllib.utils.torch_ops import convert_to_torch_tensor

tf1, tf, tfv = try_import_tf()
torch, nn = try_import_torch()

OPPONENT_OBS = "opponent_obs"
OPPONENT_ACTION = "opponent_action"

parser = argparse.ArgumentParser()
parser.add_argument("--torch", action="store_true")
parser.add_argument("--as-test", action="store_true")
parser.add_argument("--stop-iters", type=int, default=100)
parser.add_argument("--stop-timesteps", type=int, default=100000)
parser.add_argument("--stop-reward", type=float, default=7.99)


class CentralizedValueMixin:
    """Add method to evaluate the central value function from the model."""

    def __init__(self):
        if self.config["framework"] != "torch":
            self.compute_central_vf = make_tf_callable(self.get_session())(
                self.model.central_value_function)
        else:
            self.compute_central_vf = self.model.central_value_function


# Grabs the opponent obs/act and includes it in the experience train_batch,
# and computes GAE using the central vf predictions.
def centralized_critic_postprocessing(policy,
                                      sample_batch,
                                      other_agent_batches=None,
                                      episode=None):
    pytorch = policy.config["framework"] == "torch"
    if (pytorch and hasattr(policy, "compute_central_vf")) or \
            (not pytorch and policy.loss_initialized()):
        assert other_agent_batches is not None
        [(_, opponent_batch)] = list(other_agent_batches.values())

        # also record the opponent obs and actions in the trajectory
        sample_batch[OPPONENT_OBS] = opponent_batch[SampleBatch.CUR_OBS]
        sample_batch[OPPONENT_ACTION] = opponent_batch[SampleBatch.ACTIONS]

        # overwrite default VF prediction with the central VF
        if args.torch:
            sample_batch[SampleBatch.VF_PREDS] = policy.compute_central_vf(
                convert_to_torch_tensor(
                    sample_batch[SampleBatch.CUR_OBS], policy.device),
                convert_to_torch_tensor(
                    sample_batch[OPPONENT_OBS], policy.device),
                convert_to_torch_tensor(
                    sample_batch[OPPONENT_ACTION], policy.device)) \
                .detach().numpy()
        else:
            sample_batch[SampleBatch.VF_PREDS] = policy.compute_central_vf(
                sample_batch[SampleBatch.CUR_OBS], sample_batch[OPPONENT_OBS],
                sample_batch[OPPONENT_ACTION])
    else:
        # Policy hasn't been initialized yet, use zeros.
        sample_batch[OPPONENT_OBS] = np.zeros_like(
            sample_batch[SampleBatch.CUR_OBS])
        sample_batch[OPPONENT_ACTION] = np.zeros_like(
            sample_batch[SampleBatch.ACTIONS])
        sample_batch[SampleBatch.VF_PREDS] = np.zeros_like(
            sample_batch[SampleBatch.REWARDS], dtype=np.float32)

    completed = sample_batch["dones"][-1]
    if completed:
        last_r = 0.0
    else:
        last_r = sample_batch[SampleBatch.VF_PREDS][-1]

    train_batch = compute_advantages(
        sample_batch,
        last_r,
        policy.config["gamma"],
        policy.config["lambda"],
        use_gae=policy.config["use_gae"])
    return train_batch


# Copied from PPO but optimizing the central value function.
def loss_with_central_critic(policy, model, dist_class, train_batch):
    CentralizedValueMixin.__init__(policy)
    func = tf_loss if not policy.config["framework"] == "torch" else torch_loss

    vf_saved = model.value_function
    model.value_function = lambda: policy.model.central_value_function(
        train_batch[SampleBatch.CUR_OBS], train_batch[OPPONENT_OBS],
        train_batch[OPPONENT_ACTION])

    policy._central_value_out = model.value_function()
    loss = func(policy, model, dist_class, train_batch)

    model.value_function = vf_saved

    return loss


def setup_mixins(policy, obs_space, action_space, config):
    # copied from PPO
    KLCoeffMixin.__init__(policy, config)
    EntropyCoeffSchedule.__init__(policy, config["entropy_coeff"],
                                  config["entropy_coeff_schedule"])
    LearningRateSchedule.__init__(policy, config["lr"], config["lr_schedule"])


def central_vf_stats(policy, train_batch, grads):
    # Report the explained variance of the central value function.
    return {
        "vf_explained_var": explained_variance(
            train_batch[Postprocessing.VALUE_TARGETS],
            policy._central_value_out),
    }


CCPPOTFPolicy = PPOTFPolicy.with_updates(
    name="CCPPOTFPolicy",
    postprocess_fn=centralized_critic_postprocessing,
    loss_fn=loss_with_central_critic,
    before_loss_init=setup_mixins,
    grad_stats_fn=central_vf_stats,
    mixins=[
        LearningRateSchedule, EntropyCoeffSchedule, KLCoeffMixin,
        CentralizedValueMixin
    ])

CCPPOTorchPolicy = PPOTorchPolicy.with_updates(
    name="CCPPOTorchPolicy",
    postprocess_fn=centralized_critic_postprocessing,
    loss_fn=loss_with_central_critic,
    before_init=setup_mixins,
    mixins=[
        TorchLR, TorchEntropyCoeffSchedule, TorchKLCoeffMixin,
        CentralizedValueMixin
    ])


def get_policy_class(config):
    if config["framework"] == "torch":
        return CCPPOTorchPolicy


CCTrainer = PPOTrainer.with_updates(
    name="CCPPOTrainer",
    default_policy=CCPPOTFPolicy,
    get_policy_class=get_policy_class,
)

if __name__ == "__main__":
    ray.init(local_mode=True)
    args = parser.parse_args()

    ModelCatalog.register_custom_model(
        "cc_model", TorchCentralizedCriticModel
        if args.torch else CentralizedCriticModel)

    config = {
        "env": TwoStepGame,
        "batch_mode": "complete_episodes",
        "num_workers": 0,
        "multiagent": {
            "policies": {
                "pol1": (None, Discrete(6), TwoStepGame.action_space, {
                    "framework": "torch" if args.torch else "tf",
                }),
                "pol2": (None, Discrete(6), TwoStepGame.action_space, {
                    "framework": "torch" if args.torch else "tf",
                }),
            },
            "policy_mapping_fn": lambda x: "pol1" if x == 0 else "pol2",
        },
        "model": {
            "custom_model": "cc_model",
        },
        "framework": "torch" if args.torch else "tf",
    }

    stop = {
        "training_iteration": args.stop_iters,
        "timesteps_total": args.stop_timesteps,
        "episode_reward_mean": args.stop_reward,
    }

    results = tune.run(CCTrainer, config=config, stop=stop)

    if args.as_test:
        check_learning_achieved(results, args.stop_reward)
