import logging
from typing import Callable, Dict, List, Optional, Tuple

import gym

import ray
from ray.rllib.env.base_env import BaseEnv, _DUMMY_AGENT_ID, ASYNC_RESET_RETURN
from ray.rllib.utils.annotations import override, PublicAPI
from ray.rllib.utils.typing import MultiEnvDict, EnvType, EnvID

logger = logging.getLogger(__name__)


@PublicAPI
class RemoteBaseEnv(BaseEnv):
    """BaseEnv that executes its sub environments as @ray.remote actors.

    This provides dynamic batching of inference as observations are returned
    from the remote simulator actors. Both single and multi-agent child envs
    are supported, and envs can be stepped synchronously or asynchronously.

    NOTE: This class implicitly assumes that the remote envs are gym.Env's

    You shouldn't need to instantiate this class directly. It's automatically
    inserted when you use the `remote_worker_envs=True` option in your
    Trainer's config.
    """

    def __init__(self,
                 make_env: Callable[[int], EnvType],
                 num_envs: int,
                 multiagent: bool,
                 remote_env_batch_wait_ms: int,
                 existing_envs: Optional[List[ray.actor.ActorHandle]] = None):
        """Initializes a RemoteVectorEnv instance.

        Args:
            make_env: Callable that produces a single (non-vectorized) env,
                given the vector env index as only arg.
            num_envs: The number of sub-environments to create for the
                vectorization.
            multiagent: Whether this is a multiagent env or not.
            remote_env_batch_wait_ms: Time to wait for (ray.remote)
                sub-environments to have new observations available when
                polled. Only when none of the sub-environments is ready,
                repeat the `ray.wait()` call until at least one sub-env
                is ready. Then return only the observations of the ready
                sub-environment(s).
            existing_envs: Optional list of already created sub-environments.
                These will be used as-is and only as many new sub-envs as
                necessary (`num_envs - len(existing_envs)`) will be created.
        """

        # Could be creating local or remote envs.
        self.make_env = make_env
        # Whether the given `make_env` callable already returns ray.remote
        # objects or not.
        self.make_env_creates_actors = False
        # Already existing env objects (generated by the RolloutWorker).
        self.existing_envs = existing_envs or []
        self.num_envs = num_envs
        self.multiagent = multiagent
        self.poll_timeout = remote_env_batch_wait_ms / 1000

        # List of ray actor handles (each handle points to one @ray.remote
        # sub-environment).
        self.actors: Optional[List[ray.actor.ActorHandle]] = None
        self._observation_space = None
        self._action_space = None
        # Dict mapping object refs (return values of @ray.remote calls),
        # whose actual values we are waiting for (via ray.wait in
        # `self.poll()`) to their corresponding actor handles (the actors
        # that created these return values).
        self.pending: Optional[Dict[ray.actor.ActorHandle]] = None

    @override(BaseEnv)
    def poll(self) -> Tuple[MultiEnvDict, MultiEnvDict, MultiEnvDict,
                            MultiEnvDict, MultiEnvDict]:
        if self.actors is None:
            # `self.make_env` already produces Actors: Use it directly.
            if len(self.existing_envs) > 0 and isinstance(
                    self.existing_envs[0], ray.actor.ActorHandle):
                self.make_env_creates_actors = True
                self.actors = []
                while len(self.actors) < self.num_envs:
                    self.actors.append(self.make_env(len(self.actors)))
            # `self.make_env` produces gym.Envs (or children thereof, such
            # as MultiAgentEnv): Need to auto-wrap it here. The problem with
            # this is that custom methods wil get lost. If you would like to
            # keep your custom methods in your envs, you should provide the
            # env class directly in your config (w/o tune.register_env()),
            # such that your class will directly be made a @ray.remote
            # (w/o the wrapping via `_Remote[Multi|Single]AgentEnv`).
            else:

                def make_remote_env(i):
                    logger.info("Launching env {} in remote actor".format(i))
                    if self.multiagent:
                        return _RemoteMultiAgentEnv.remote(self.make_env, i)
                    else:
                        return _RemoteSingleAgentEnv.remote(self.make_env, i)

                self.actors = [
                    make_remote_env(i) for i in range(self.num_envs)
                ]
                self._observation_space = ray.get(
                    self.actors[0].observation_space.remote())
                self._action_space = ray.get(
                    self.actors[0].action_space.remote())

        # Lazy initialization. Call `reset()` on all @ray.remote
        # sub-environment actors at the beginning.
        if self.pending is None:
            # Initialize our pending object ref -> actor handle mapping
            # dict.
            self.pending = {a.reset.remote(): a for a in self.actors}

        # each keyed by env_id in [0, num_remote_envs)
        obs, rewards, dones, infos = {}, {}, {}, {}
        ready = []

        # Wait for at least 1 env to be ready here.
        while not ready:
            ready, _ = ray.wait(
                list(self.pending),
                num_returns=len(self.pending),
                timeout=self.poll_timeout)

        # Get and return observations for each of the ready envs
        env_ids = set()
        for obj_ref in ready:
            # Get the corresponding actor handle from our dict and remove the
            # object ref (we will call `ray.get()` on it and it will no longer
            # be "pending").
            actor = self.pending.pop(obj_ref)
            env_id = self.actors.index(actor)
            env_ids.add(env_id)
            # Get the ready object ref (this may be return value(s) of
            # `reset()` or `step()`).
            ret = ray.get(obj_ref)
            # Our sub-envs are simple Actor-turned gym.Envs or MultiAgentEnvs.
            if self.make_env_creates_actors:
                rew, done, info = None, None, None
                if self.multiagent:
                    if isinstance(ret, tuple) and len(ret) == 4:
                        ob, rew, done, info = ret
                    else:
                        ob = ret
                else:
                    if isinstance(ret, tuple) and len(ret) == 4:
                        ob = {_DUMMY_AGENT_ID: ret[0]}
                        rew = {_DUMMY_AGENT_ID: ret[1]}
                        done = {_DUMMY_AGENT_ID: ret[2], "__all__": ret[2]}
                        info = {_DUMMY_AGENT_ID: ret[3]}
                    else:
                        ob = {_DUMMY_AGENT_ID: ret}

                # If this is a `reset()` return value, we only have the initial
                # observations: Set rewards, dones, and infos to dummy values.
                if rew is None:
                    rew = {agent_id: 0 for agent_id in ob.keys()}
                    done = {"__all__": False}
                    info = {agent_id: {} for agent_id in ob.keys()}

            # Our sub-envs are auto-wrapped (by `_RemoteSingleAgentEnv` or
            # `_RemoteMultiAgentEnv`) and already behave like multi-agent
            # envs.
            else:
                ob, rew, done, info = ret
            obs[env_id] = ob
            rewards[env_id] = rew
            dones[env_id] = done
            infos[env_id] = info

        logger.debug("Got obs batch for actors {}".format(env_ids))
        return obs, rewards, dones, infos, {}

    @override(BaseEnv)
    @PublicAPI
    def send_actions(self, action_dict: MultiEnvDict) -> None:
        for env_id, actions in action_dict.items():
            actor = self.actors[env_id]
            # `actor` is a simple single-agent (remote) env, e.g. a gym.Env
            # that was made a @ray.remote.
            if not self.multiagent and self.make_env_creates_actors:
                obj_ref = actor.step.remote(actions[_DUMMY_AGENT_ID])
            # `actor` is already a _RemoteSingleAgentEnv or
            # _RemoteMultiAgentEnv wrapper
            # (handles the multi-agent action_dict automatically).
            else:
                obj_ref = actor.step.remote(actions)
            self.pending[obj_ref] = actor

    @override(BaseEnv)
    @PublicAPI
    def try_reset(self,
                  env_id: Optional[EnvID] = None) -> Optional[MultiEnvDict]:
        actor = self.actors[env_id]
        obj_ref = actor.reset.remote()
        self.pending[obj_ref] = actor
        return ASYNC_RESET_RETURN

    @override(BaseEnv)
    @PublicAPI
    def stop(self) -> None:
        if self.actors is not None:
            for actor in self.actors:
                actor.__ray_terminate__.remote()

    @override(BaseEnv)
    @PublicAPI
    def get_sub_environments(self, as_dict: bool = False) -> List[EnvType]:
        if as_dict:
            return {env_id: actor for env_id, actor in enumerate(self.actors)}
        return self.actors

    @property
    @override(BaseEnv)
    @PublicAPI
    def observation_space(self) -> gym.spaces.Dict:
        return self._observation_space

    @property
    @override(BaseEnv)
    @PublicAPI
    def action_space(self) -> gym.Space:
        return self._action_space


@ray.remote(num_cpus=0)
class _RemoteMultiAgentEnv:
    """Wrapper class for making a multi-agent env a remote actor."""

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

    def reset(self):
        obs = self.env.reset()
        # each keyed by agent_id in the env
        rew = {agent_id: 0 for agent_id in obs.keys()}
        info = {agent_id: {} for agent_id in obs.keys()}
        done = {"__all__": False}
        return obs, rew, done, info

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

    # defining these 2 functions that way this information can be queried
    # with a call to ray.get()
    def observation_space(self):
        return self.env.observation_space

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


@ray.remote(num_cpus=0)
class _RemoteSingleAgentEnv:
    """Wrapper class for making a gym env a remote actor."""

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

    def reset(self):
        obs = {_DUMMY_AGENT_ID: self.env.reset()}
        rew = {agent_id: 0 for agent_id in obs.keys()}
        done = {"__all__": False}
        info = {agent_id: {} for agent_id in obs.keys()}
        return obs, rew, done, info

    def step(self, action):
        obs, rew, done, info = self.env.step(action[_DUMMY_AGENT_ID])
        obs, rew, done, info = [{
            _DUMMY_AGENT_ID: x
        } for x in [obs, rew, done, info]]
        done["__all__"] = done[_DUMMY_AGENT_ID]
        return obs, rew, done, info

    # defining these 2 functions that way this information can be queried
    # with a call to ray.get()
    def observation_space(self):
        return self.env.observation_space

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