from abc import abstractmethod

import gym
from gym import error
from gym.utils import closer


class Env:
    """The main OpenAI Gym class. It encapsulates an environment with
    arbitrary behind-the-scenes dynamics. An environment can be
    partially or fully observed.

    The main API methods that users of this class need to know are:

        step
        reset
        render
        close
        seed

    And set the following attributes:

        action_space: The Space object corresponding to valid actions
        observation_space: The Space object corresponding to valid observations
        reward_range: A tuple corresponding to the min and max possible rewards

    Note: a default reward range set to [-inf,+inf] already exists. Set it if you want a narrower range.

    The methods are accessed publicly as "step", "reset", etc...
    """

    # Set this in SOME subclasses
    metadata = {"render.modes": []}
    reward_range = (-float("inf"), float("inf"))
    spec = None

    # Set these in ALL subclasses
    action_space = None
    observation_space = None

    @abstractmethod
    def step(self, action):
        """Run one timestep of the environment's dynamics. When end of
        episode is reached, you are responsible for calling `reset()`
        to reset this environment's state.

        Accepts an action and returns a tuple (observation, reward, done, info).

        Args:
            action (object): an action provided by the agent

        Returns:
            observation (object): agent's observation of the current environment
            reward (float) : amount of reward returned after previous action
            done (bool): whether the episode has ended, in which case further step() calls will return undefined results
            info (dict): contains auxiliary diagnostic information (helpful for debugging, and sometimes learning)
        """
        raise NotImplementedError

    @abstractmethod
    def reset(self):
        """Resets the environment to an initial state and returns an initial
        observation.

        Note that this function should not reset the environment's random
        number generator(s); random variables in the environment's state should
        be sampled independently between multiple calls to `reset()`. In other
        words, each call of `reset()` should yield an environment suitable for
        a new episode, independent of previous episodes.

        Returns:
            observation (object): the initial observation.
        """
        raise NotImplementedError

    @abstractmethod
    def render(self, mode="human"):
        """Renders the environment.

        The set of supported modes varies per environment. (And some
        environments do not support rendering at all.) By convention,
        if mode is:

        - human: render to the current display or terminal and
          return nothing. Usually for human consumption.
        - rgb_array: Return an numpy.ndarray with shape (x, y, 3),
          representing RGB values for an x-by-y pixel image, suitable
          for turning into a video.
        - ansi: Return a string (str) or StringIO.StringIO containing a
          terminal-style text representation. The text can include newlines
          and ANSI escape sequences (e.g. for colors).

        Note:
            Make sure that your class's metadata 'render.modes' key includes
              the list of supported modes. It's recommended to call super()
              in implementations to use the functionality of this method.

        Args:
            mode (str): the mode to render with

        Example:

        class MyEnv(Env):
            metadata = {'render.modes': ['human', 'rgb_array']}

            def render(self, mode='human'):
                if mode == 'rgb_array':
                    return np.array(...) # return RGB frame suitable for video
                elif mode == 'human':
                    ... # pop up a window and render
                else:
                    super(MyEnv, self).render(mode=mode) # just raise an exception
        """
        raise NotImplementedError

    def close(self):
        """Override close in your subclass to perform any necessary cleanup.

        Environments will automatically close() themselves when
        garbage collected or when the program exits.
        """
        pass

    def seed(self, seed=None):
        """Sets the seed for this env's random number generator(s).

        Note:
            Some environments use multiple pseudorandom number generators.
            We want to capture all such seeds used in order to ensure that
            there aren't accidental correlations between multiple generators.

        Returns:
            list<bigint>: Returns the list of seeds used in this env's random
              number generators. The first value in the list should be the
              "main" seed, or the value which a reproducer should pass to
              'seed'. Often, the main seed equals the provided 'seed', but
              this won't be true if seed=None, for example.
        """
        return

    @property
    def unwrapped(self):
        """Completely unwrap this env.

        Returns:
            gym.Env: The base non-wrapped gym.Env instance
        """
        return self

    def __str__(self):
        if self.spec is None:
            return f"<{type(self).__name__} instance>"
        else:
            return f"<{type(self).__name__}<{self.spec.id}>>"

    def __enter__(self):
        """Support with-statement for the environment."""
        return self

    def __exit__(self, *args):
        """Support with-statement for the environment."""
        self.close()
        # propagate exception
        return False


class GoalEnv(Env):
    """A goal-based environment. It functions just as any regular OpenAI Gym environment but it
    imposes a required structure on the observation_space. More concretely, the observation
    space is required to contain at least three elements, namely `observation`, `desired_goal`, and
    `achieved_goal`. Here, `desired_goal` specifies the goal that the agent should attempt to achieve.
    `achieved_goal` is the goal that it currently achieved instead. `observation` contains the
    actual observations of the environment as per usual.
    """

    def reset(self):
        # Enforce that each GoalEnv uses a Goal-compatible observation space.
        if not isinstance(self.observation_space, gym.spaces.Dict):
            raise error.Error(
                "GoalEnv requires an observation space of type gym.spaces.Dict"
            )
        for key in ["observation", "achieved_goal", "desired_goal"]:
            if key not in self.observation_space.spaces:
                raise error.Error(
                    'GoalEnv requires the "{}" key to be part of the observation dictionary.'.format(
                        key
                    )
                )

    @abstractmethod
    def compute_reward(self, achieved_goal, desired_goal, info):
        """Compute the step reward. This externalizes the reward function and makes
        it dependent on a desired goal and the one that was achieved. If you wish to include
        additional rewards that are independent of the goal, you can include the necessary values
        to derive it in 'info' and compute it accordingly.

        Args:
            achieved_goal (object): the goal that was achieved during execution
            desired_goal (object): the desired goal that we asked the agent to attempt to achieve
            info (dict): an info dictionary with additional information

        Returns:
            float: The reward that corresponds to the provided achieved goal w.r.t. to the desired
            goal. Note that the following should always hold true:

                ob, reward, done, info = env.step()
                assert reward == env.compute_reward(ob['achieved_goal'], ob['desired_goal'], info)
        """
        raise NotImplementedError


class Wrapper(Env):
    """Wraps the environment to allow a modular transformation.

    This class is the base class for all wrappers. The subclass could override
    some methods to change the behavior of the original environment without touching the
    original code.

    .. note::

        Don't forget to call ``super().__init__(env)`` if the subclass overrides :meth:`__init__`.

    """

    def __init__(self, env):
        self.env = env

        self._action_space = None
        self._observation_space = None
        self._reward_range = None
        self._metadata = None

    def __getattr__(self, name):
        if name.startswith("_"):
            raise AttributeError(f"attempted to get missing private attribute '{name}'")
        return getattr(self.env, name)

    @property
    def spec(self):
        return self.env.spec

    @classmethod
    def class_name(cls):
        return cls.__name__

    @property
    def action_space(self):
        if self._action_space is None:
            return self.env.action_space
        return self._action_space

    @action_space.setter
    def action_space(self, space):
        self._action_space = space

    @property
    def observation_space(self):
        if self._observation_space is None:
            return self.env.observation_space
        return self._observation_space

    @observation_space.setter
    def observation_space(self, space):
        self._observation_space = space

    @property
    def reward_range(self):
        if self._reward_range is None:
            return self.env.reward_range
        return self._reward_range

    @reward_range.setter
    def reward_range(self, value):
        self._reward_range = value

    @property
    def metadata(self):
        if self._metadata is None:
            return self.env.metadata
        return self._metadata

    @metadata.setter
    def metadata(self, value):
        self._metadata = value

    def step(self, action):
        return self.env.step(action)

    def reset(self, **kwargs):
        return self.env.reset(**kwargs)

    def render(self, mode="human", **kwargs):
        return self.env.render(mode, **kwargs)

    def close(self):
        return self.env.close()

    def seed(self, seed=None):
        return self.env.seed(seed)

    def compute_reward(self, achieved_goal, desired_goal, info):
        return self.env.compute_reward(achieved_goal, desired_goal, info)

    def __str__(self):
        return f"<{type(self).__name__}{self.env}>"

    def __repr__(self):
        return str(self)

    @property
    def unwrapped(self):
        return self.env.unwrapped


class ObservationWrapper(Wrapper):
    def reset(self, **kwargs):
        observation = self.env.reset(**kwargs)
        return self.observation(observation)

    def step(self, action):
        observation, reward, done, info = self.env.step(action)
        return self.observation(observation), reward, done, info

    @abstractmethod
    def observation(self, observation):
        raise NotImplementedError


class RewardWrapper(Wrapper):
    def reset(self, **kwargs):
        return self.env.reset(**kwargs)

    def step(self, action):
        observation, reward, done, info = self.env.step(action)
        return observation, self.reward(reward), done, info

    @abstractmethod
    def reward(self, reward):
        raise NotImplementedError


class ActionWrapper(Wrapper):
    def reset(self, **kwargs):
        return self.env.reset(**kwargs)

    def step(self, action):
        return self.env.step(self.action(action))

    @abstractmethod
    def action(self, action):
        raise NotImplementedError

    @abstractmethod
    def reverse_action(self, action):
        raise NotImplementedError
