# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""
This script tests the functionality of texture randomization applied to the cartpole scene.
"""

"""Launch Isaac Sim Simulator first."""

from isaaclab.app import AppLauncher

# launch omniverse app
app_launcher = AppLauncher(headless=True, enable_cameras=True)
simulation_app = app_launcher.app

"""Rest everything follows."""

import math
import torch
import unittest

import omni.usd

import isaaclab.envs.mdp as mdp
from isaaclab.envs import ManagerBasedEnv, ManagerBasedEnvCfg
from isaaclab.managers import EventTermCfg as EventTerm
from isaaclab.managers import ObservationGroupCfg as ObsGroup
from isaaclab.managers import ObservationTermCfg as ObsTerm
from isaaclab.managers import SceneEntityCfg
from isaaclab.utils import configclass
from isaaclab.utils.assets import NVIDIA_NUCLEUS_DIR

from isaaclab_tasks.manager_based.classic.cartpole.cartpole_env_cfg import CartpoleSceneCfg


@configclass
class ActionsCfg:
    """Action specifications for the environment."""

    joint_efforts = mdp.JointEffortActionCfg(asset_name="robot", joint_names=["slider_to_cart"], scale=5.0)


@configclass
class ObservationsCfg:
    """Observation specifications for the environment."""

    @configclass
    class PolicyCfg(ObsGroup):
        """Observations for policy group."""

        # observation terms (order preserved)
        joint_pos_rel = ObsTerm(func=mdp.joint_pos_rel)
        joint_vel_rel = ObsTerm(func=mdp.joint_vel_rel)

        def __post_init__(self) -> None:
            self.enable_corruption = False
            self.concatenate_terms = True

    # observation groups
    policy: PolicyCfg = PolicyCfg()


@configclass
class EventCfg:
    """Configuration for events."""

    # on prestartup apply a new set of textures
    # note from @mayank: Changed from 'reset' to 'prestartup' to make test pass.
    #   The error happens otherwise on Kit thread which is not the main thread.
    cart_texture_randomizer = EventTerm(
        func=mdp.randomize_visual_texture_material,
        mode="prestartup",
        params={
            "asset_cfg": SceneEntityCfg("robot", body_names=["cart"]),
            "texture_paths": [
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Bamboo_Planks/Bamboo_Planks_BaseColor.png",
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Cherry/Cherry_BaseColor.png",
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Oak/Oak_BaseColor.png",
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Timber/Timber_BaseColor.png",
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Timber_Cladding/Timber_Cladding_BaseColor.png",
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Walnut_Planks/Walnut_Planks_BaseColor.png",
            ],
            "event_name": "cart_texture_randomizer",
            "texture_rotation": (math.pi / 2, math.pi / 2),
        },
    )

    # on reset apply a new set of textures
    pole_texture_randomizer = EventTerm(
        func=mdp.randomize_visual_texture_material,
        mode="reset",
        params={
            "asset_cfg": SceneEntityCfg("robot", body_names=["pole"]),
            "texture_paths": [
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Bamboo_Planks/Bamboo_Planks_BaseColor.png",
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Cherry/Cherry_BaseColor.png",
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Oak/Oak_BaseColor.png",
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Timber/Timber_BaseColor.png",
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Timber_Cladding/Timber_Cladding_BaseColor.png",
                f"{NVIDIA_NUCLEUS_DIR}/Materials/Base/Wood/Walnut_Planks/Walnut_Planks_BaseColor.png",
            ],
            "event_name": "pole_texture_randomizer",
            "texture_rotation": (math.pi / 2, math.pi / 2),
        },
    )

    reset_cart_position = EventTerm(
        func=mdp.reset_joints_by_offset,
        mode="reset",
        params={
            "asset_cfg": SceneEntityCfg("robot", joint_names=["slider_to_cart"]),
            "position_range": (-1.0, 1.0),
            "velocity_range": (-0.1, 0.1),
        },
    )

    reset_pole_position = EventTerm(
        func=mdp.reset_joints_by_offset,
        mode="reset",
        params={
            "asset_cfg": SceneEntityCfg("robot", joint_names=["cart_to_pole"]),
            "position_range": (-0.125 * math.pi, 0.125 * math.pi),
            "velocity_range": (-0.01 * math.pi, 0.01 * math.pi),
        },
    )


@configclass
class CartpoleEnvCfg(ManagerBasedEnvCfg):
    """Configuration for the cartpole environment."""

    # Scene settings
    scene = CartpoleSceneCfg(env_spacing=2.5)

    # Basic settings
    actions = ActionsCfg()
    observations = ObservationsCfg()
    events = EventCfg()

    def __post_init__(self):
        """Post initialization."""
        # viewer settings
        self.viewer.eye = [4.5, 0.0, 6.0]
        self.viewer.lookat = [0.0, 0.0, 2.0]
        # step settings
        self.decimation = 4  # env step every 4 sim steps: 200Hz / 4 = 50Hz
        # simulation settings
        self.sim.dt = 0.005  # sim step every 5ms: 200Hz


class TestTextureRandomization(unittest.TestCase):
    """Test for texture randomization"""

    """
    Tests
    """

    def test_texture_randomization(self):
        """Test texture randomization for cartpole environment."""
        for device in ["cpu", "cuda"]:
            with self.subTest(device=device):
                # create a new stage
                omni.usd.get_context().new_stage()

                # set the arguments
                env_cfg = CartpoleEnvCfg()
                env_cfg.scene.num_envs = 16
                env_cfg.scene.replicate_physics = False
                env_cfg.sim.device = device

                # setup base environment
                env = ManagerBasedEnv(cfg=env_cfg)

                # simulate physics
                with torch.inference_mode():
                    for count in range(50):
                        # reset every few steps to check nothing breaks
                        if count % 10 == 0:
                            env.reset()
                        # sample random actions
                        joint_efforts = torch.randn_like(env.action_manager.action)
                        # step the environment
                        env.step(joint_efforts)

                env.close()

    def test_texture_randomization_failure_replicate_physics(self):
        """Test texture randomization failure when replicate physics is set to True."""
        # create a new stage
        omni.usd.get_context().new_stage()

        # set the arguments
        cfg_failure = CartpoleEnvCfg()
        cfg_failure.scene.num_envs = 16
        cfg_failure.scene.replicate_physics = True

        with self.assertRaises(RuntimeError):
            env = ManagerBasedEnv(cfg_failure)
            env.close()
