import torch
from torch import nn
import numpy as np
import tqdm
from torch.utils.data import Dataset, DataLoader

import os
os.environ["TORCH_AUTOGRAD_SHUTDOWN_WAIT_LIMIT"] = "0"

device = "cuda" if torch.cuda.is_available() else "cpu"
print(f"Using {device} device")


# Define model
class BaseModel(nn.Module):
    evolutionary = False
    def __init__(self, view_dimension, action_num, channels):
        super(BaseModel, self).__init__()
        self.flatten = nn.Flatten()
        self.actions = []
        self.action_num = action_num
        self.viewD = view_dimension
        self.channels = channels
        for action in range(action_num):
            action_sequence = nn.Sequential(
                nn.Linear(channels * (2 * self.viewD + 1) * (2 * self.viewD + 1) + 2,
                          (2 * self.viewD + 1) * (2 * self.viewD + 1)),
                nn.ELU(),
                nn.Linear((2 * self.viewD + 1) * (2 * self.viewD + 1), (self.viewD + 1) * (self.viewD + 1)),
                nn.ELU(),
                nn.Linear((self.viewD + 1) * (self.viewD + 1), 2)
            )
            self.add_module('action_' + str(action), action_sequence)
            self.actions.append(action_sequence)

    def forward(self, x):
        x_flat = self.flatten(x)
        actions = []
        for action in range(self.action_num):
            actions.append(self.actions[action](x_flat))
        return torch.stack(actions, dim=1)


class BaseDataSet(Dataset):
    def __init__(self, states, targets):
        assert len(states) == len(targets), "Needs to have as many states as targets!"
        self.states = torch.tensor(np.array(states), dtype=torch.float32)
        self.targets = torch.tensor(np.array(targets), dtype=torch.float32)

    def __len__(self):
        return len(self.states)

    def __getitem__(self, idx):
        return self.states[idx], self.targets[idx]


def create_optimizer(model):
    return torch.optim.RMSprop(model.parameters(), lr=1e-3)


def create_loss_function(action):
    def custom_loss(prediction, target):
        return torch.mean(0.5 * torch.square(
            0.1 * target[:, 0, 0] + target[:, 1, 0] - (
                        prediction[:, action, 0] + prediction[:, action, 1])) + 0.5 * torch.square(
            target[:, 1, 0] - prediction[:, action, 0]), dim=0)

    return custom_loss


def from_numpy(x):
    return torch.tensor(np.array(x), dtype=torch.float32)


def train(states, targets, model, optimizer):
    for action in range(model.action_num):
        data_set = BaseDataSet(states[action], targets[action])
        dataloader = DataLoader(data_set, batch_size=64, shuffle=True)
        loss_fn = create_loss_function(action)

        size = len(dataloader)
        model.train()
        for batch, (X, y) in enumerate(dataloader):
            X, y = X.to(device), y.to(device)

            # Compute prediction error
            pred = model(X)
            loss = loss_fn(pred, y)

            # Backpropagation
            optimizer.zero_grad()
            loss.backward(retain_graph=True)
            optimizer.step()

            if batch % 100 == 0:
                loss, current = loss.item(), batch * len(X)
                print(f"loss: {loss:>7f}  [{current:>5d}/{size:>5d}]")
        model.eval()

        del data_set
        del dataloader


if __name__ == '__main__':
    sample = np.random.random((1, 486))

    model = BaseModel(5, 4, 4).to(device)
    print(model)

    test = model(torch.tensor(sample, dtype=torch.float32))
    # test = test.cpu().detach().numpy()
    print(test)

    state = np.random.random((486,))
    target = np.random.random((4, 2))
    states = [
        [state],
        [state],
        [state],
        [state],
    ]
    targets = [
        [target],
        [target],
        [target],
        [target],
    ]

    optimizer = torch.optim.RMSprop(model.parameters(), lr=1e-3)

    train(states, targets, model, optimizer)