#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import random
from typing import Any

from neodroid.environments.droid_environment.deprecated.single_unity_environment import (
    SingleUnityEnvironment,
)
from neodroid.utilities.transformations.encodings import signed_ternary_encoding
from neodroid.utilities.unity_specifications import Reaction, ReactionParameters

__author__ = "<NAME>"

import numpy


class NeodroidCurriculumWrapper(SingleUnityEnvironment):
    def __init__(self, **kwargs):
        super().__init__(**kwargs)

    def __next__(self):
        if not self._is_connected_to_server:
            raise StopIteration
        return self.act()

    def act(self, action=None, *args, **kwargs):
        message = super().react(action[0], *args, **kwargs)
        if message:
            return (
                numpy.array([message.observables]),
                numpy.array([message.signal]),
                numpy.array([message.terminated]),
                message,
            )
        return None, None, None, None

    def configure(self, *args, **kwargs):
        message = super().reset(*args, **kwargs)
        if message:
            return numpy.array([message.observables]), message
        return None, None

    def generate_trajectory_from_configuration(
        self,
        initial_configuration,
        motion_horizon=6,
        non_terminable_horizon=10,
        random_process=None,
    ):
        configure_params = ReactionParameters(
            reset=True,
            terminable=False,
            configure=True
            # ,episode_count=False
        )

        conf_reaction = Reaction(
            parameters=configure_params, configurations=initial_configuration
        )

        non_terminable_params = ReactionParameters(
            step=True,
            terminable=False
            #                                              ,
            #                                              episode_count=False
        )

        initial_states = set()
        self.configure()
        while len(initial_states) < 1:
            state, _ = self.configure(conf_reaction)
            for i in range(non_terminable_horizon):
                state, _, terminated, info = self.act(
                    self.action_space._sample(), parameters=non_terminable_params
                )

            for i in range(motion_horizon):
                if random_process is not None:
                    actions = random_process.sample()
                    actions = self.action_space.validate(actions)
                else:
                    actions = self.action_space._sample()

                state, _, terminated, info = self.act(actions)

                if not terminated:
                    initial_states.add(info)
            non_terminable_horizon += 1

        return initial_states

    def generate_trajectory_from_state(
        self, state, motion_horizon=10, random_process=None
    ):
        initial_states = set()
        self.configure()
        while len(initial_states) < 1:
            s, _ = self.configure(state=state)
            for i in range(motion_horizon):
                if random_process is not None:
                    actions = random_process.sample()
                    actions = self.action_space.validate(actions)
                else:
                    actions = self.action_space._sample()

                s, _, terminated, info = self.act(actions)

                if not terminated:
                    initial_states.add(info)
            motion_horizon += 1

        return initial_states

    def observe(self, *args, **kwargs):
        message = super().observe()
        if message:
            return (message.observables, message.signal, message.terminated, message)
        return None, None, None, None

    def quit(self, *args, **kwargs):
        return self.close(*args, **kwargs)


class BinaryActionEncodingCurriculumEnvironment(NeodroidCurriculumWrapper):
    def step(self, action: int = 0, **kwargs) -> Any:
        a = signed_ternary_encoding(size=self.action_space.n, index=action)
        return super().act(a, **kwargs)

    @property
    def action_space(self):
        self.act_spc = super().action_space

        # self.act_spc.sample = self.signed_one_hot_sample

        return self.act_spc

    def signed_one_hot_sample(self):
        num = self.act_spc.n
        return random.randrange(num)

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import random
from typing import Any

from neodroid.environments.droid_environment.deprecated.single_unity_environment import (
    SingleUnityEnvironment,
)
from neodroid.utilities.transformations.encodings import signed_ternary_encoding
from neodroid.utilities.unity_specifications import Reaction, ReactionParameters

__author__ = "<NAME>"

import numpy


class NeodroidCurriculumWrapper(SingleUnityEnvironment):
    def __init__(self, **kwargs):
        super().__init__(**kwargs)

    def __next__(self):
        if not self._is_connected_to_server:
            raise StopIteration
        return self.act()

    def act(self, action=None, *args, **kwargs):
        message = super().react(action[0], *args, **kwargs)
        if message:
            return (
                numpy.array([message.observables]),
                numpy.array([message.signal]),
                numpy.array([message.terminated]),
                message,
            )
        return None, None, None, None

    def configure(self, *args, **kwargs):
        message = super().reset(*args, **kwargs)
        if message:
            return numpy.array([message.observables]), message
        return None, None

    def generate_trajectory_from_configuration(
        self,
        initial_configuration,
        motion_horizon=6,
        non_terminable_horizon=10,
        random_process=None,
    ):
        configure_params = ReactionParameters(
            reset=True,
            terminable=False,
            configure=True
            # ,episode_count=False
        )

        conf_reaction = Reaction(
            parameters=configure_params, configurations=initial_configuration
        )

        non_terminable_params = ReactionParameters(
            step=True,
            terminable=False
            #                                              ,
            #                                              episode_count=False
        )

        initial_states = set()
        self.configure()
        while len(initial_states) < 1:
            state, _ = self.configure(conf_reaction)
            for i in range(non_terminable_horizon):
                state, _, terminated, info = self.act(
                    self.action_space._sample(), parameters=non_terminable_params
                )

            for i in range(motion_horizon):
                if random_process is not None:
                    actions = random_process.sample()
                    actions = self.action_space.validate(actions)
                else:
                    actions = self.action_space._sample()

                state, _, terminated, info = self.act(actions)

                if not terminated:
                    initial_states.add(info)
            non_terminable_horizon += 1

        return initial_states

    def generate_trajectory_from_state(
        self, state, motion_horizon=10, random_process=None
    ):
        initial_states = set()
        self.configure()
        while len(initial_states) < 1:
            s, _ = self.configure(state=state)
            for i in range(motion_horizon):
                if random_process is not None:
                    actions = random_process.sample()
                    actions = self.action_space.validate(actions)
                else:
                    actions = self.action_space._sample()

                s, _, terminated, info = self.act(actions)

                if not terminated:
                    initial_states.add(info)
            motion_horizon += 1

        return initial_states

    def observe(self, *args, **kwargs):
        message = super().observe()
        if message:
            return (message.observables, message.signal, message.terminated, message)
        return None, None, None, None

    def quit(self, *args, **kwargs):
        return self.close(*args, **kwargs)


class BinaryActionEncodingCurriculumEnvironment(NeodroidCurriculumWrapper):
    def step(self, action: int = 0, **kwargs) -> Any:
        a = signed_ternary_encoding(size=self.action_space.n, index=action)
        return super().act(a, **kwargs)

    @property
    def action_space(self):
        self.act_spc = super().action_space

        # self.act_spc.sample = self.signed_one_hot_sample

        return self.act_spc

    def signed_one_hot_sample(self):
        num = self.act_spc.n
        return random.randrange(num)

#!/usr/bin/env python3 # -*- coding: utf-8 -*- # ,episode_count=False #                                              , #                                              episode_count=False # self.act_spc.sample = self.signed_one_hot_sample