#!/usr/bin/env python3
""" Example Algorithm for RLLIB + SUMO Utlis

    Author: Lara CODECA lara.codeca@gmail.com

    See:
        https://github.com/lcodeca/rllibsumoutils
        https://github.com/lcodeca/rllibsumodocker
    for further details.
"""

import argparse
from copy import deepcopy
import logging
import os
import pathlib
from pprint import pformat

import ray
from ray import air, tune

from ray.rllib.algorithms.ppo import ppo
from ray.rllib.examples.simulators.sumo import marlenvironment
from ray.rllib.utils.test_utils import check_learning_achieved

logging.basicConfig(level=logging.WARN)
logger = logging.getLogger("ppotrain")

parser = argparse.ArgumentParser()
parser.add_argument(
    "--sumo-connect-lib",
    type=str,
    default="libsumo",
    choices=["libsumo", "traci"],
    help="The SUMO connector to import. Requires the env variable SUMO_HOME set.",
)
parser.add_argument(
    "--sumo-gui",
    action="store_true",
    help="Enables the SUMO GUI. Possible only with TraCI connector.",
)
parser.add_argument(
    "--sumo-config-file",
    type=str,
    default=None,
    help="The SUMO configuration file for the scenario.",
)
parser.add_argument(
    "--from-checkpoint",
    type=str,
    default=None,
    help="Full path to a checkpoint file for restoring a previously saved "
    "Algorithm state.",
)
parser.add_argument("--num-workers", type=int, default=0)
parser.add_argument(
    "--as-test",
    action="store_true",
    help="Whether this script should be run as a test: --stop-reward must "
    "be achieved within --stop-timesteps AND --stop-iters.",
)
parser.add_argument(
    "--stop-iters", type=int, default=10, help="Number of iterations to train."
)
parser.add_argument(
    "--stop-timesteps", type=int, default=1000000, help="Number of timesteps to train."
)
parser.add_argument(
    "--stop-reward",
    type=float,
    default=30000.0,
    help="Reward at which we stop training.",
)

if __name__ == "__main__":
    args = parser.parse_args()
    ray.init()
    tune.register_env("sumo_test_env", marlenvironment.env_creator)

    # Algorithm.
    policy_class = ppo.PPOTF1Policy
    config = (
        ppo.PPOConfig()
        .framework("tf")
        .rollouts(
            batch_mode="complete_episodes",
            num_rollout_workers=args.num_workers,
        )
        .training(
            gamma=0.99,
            lambda_=0.95,
            lr=0.001,
            sgd_minibatch_size=256,
            train_batch_size=4000,
        )
        .resources(num_gpus=int(os.environ.get("RLLIB_NUM_GPUS", "0")))
        .reporting(min_time_s_per_iteration=5)
    )

    # Load default Scenario configuration for the LEARNING ENVIRONMENT
    scenario_config = deepcopy(marlenvironment.DEFAULT_SCENARIO_CONFING)
    scenario_config["seed"] = 42
    scenario_config["log_level"] = "INFO"
    scenario_config["sumo_config"]["sumo_connector"] = args.sumo_connect_lib
    scenario_config["sumo_config"]["sumo_gui"] = args.sumo_gui
    if args.sumo_config_file is not None:
        scenario_config["sumo_config"]["sumo_cfg"] = args.sumo_config_file
    else:
        filename = "{}/simulators/sumo/scenario/sumo.cfg.xml".format(
            pathlib.Path(__file__).parent.absolute()
        )
        scenario_config["sumo_config"]["sumo_cfg"] = filename

    scenario_config["sumo_config"]["sumo_params"] = ["--collision.action", "warn"]
    scenario_config["sumo_config"]["trace_file"] = True
    scenario_config["sumo_config"]["end_of_sim"] = 3600  # [s]
    scenario_config["sumo_config"][
        "update_freq"
    ] = 10  # number of traci.simulationStep()
    # for each learning step.
    scenario_config["sumo_config"]["log_level"] = "INFO"
    logger.info("Scenario Configuration: \n %s", pformat(scenario_config))

    # Associate the agents with their configuration.
    agent_init = {
        "agent_0": deepcopy(marlenvironment.DEFAULT_AGENT_CONFING),
        "agent_1": deepcopy(marlenvironment.DEFAULT_AGENT_CONFING),
    }
    logger.info("Agents Configuration: \n %s", pformat(agent_init))

    # MARL Environment Init
    env_config = {
        "agent_init": agent_init,
        "scenario_config": scenario_config,
    }
    marl_env = marlenvironment.SUMOTestMultiAgentEnv(env_config)

    # Config for PPO from the MARLEnv.
    policies = {}
    for agent in marl_env.get_agents():
        agent_policy_params = {}
        policies[agent] = (
            policy_class,
            marl_env.get_obs_space(agent),
            marl_env.get_action_space(agent),
            agent_policy_params,
        )
    config.multi_agent(
        policies=policies,
        policy_mapping_fn=lambda agent_id, episode, worker, **kwargs: agent_id,
        policies_to_train=["ppo_policy"],
    )
    config.environment("sumo_test_env", env_config=env_config)

    logger.info("PPO Configuration: \n %s", pformat(config.to_dict()))

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

    # Run the experiment.
    results = tune.Tuner(
        "PPO",
        param_space=config,
        run_config=air.RunConfig(
            stop=stop,
            verbose=1,
            checkpoint_config=air.CheckpointConfig(
                checkpoint_frequency=10,
            ),
        ),
    ).fit()

    # And check the results.
    if args.as_test:
        check_learning_achieved(results, args.stop_reward)

    ray.shutdown()