# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""
Script to train RL agent with RL-Games.
"""

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


import argparse
import os

from omni.isaac.kit import SimulationApp

# add argparse arguments
parser = argparse.ArgumentParser("Welcome to Orbit: Omniverse Robotics Environments!")
parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.")
parser.add_argument("--cpu", action="store_true", default=False, help="Use CPU pipeline.")
parser.add_argument("--num_envs", type=int, default=None, help="Number of environments to simulate.")
parser.add_argument("--task", type=str, default=None, help="Name of the task.")
parser.add_argument("--seed", type=int, default=None, help="Seed used for the environment")
args_cli = parser.parse_args()

# launch the simulator
config = {"headless": args_cli.headless}
# load cheaper kit config in headless
if args_cli.headless:
    app_experience = f"{os.environ['EXP_PATH']}/omni.isaac.sim.python.gym.headless.kit"
else:
    app_experience = f"{os.environ['EXP_PATH']}/omni.isaac.sim.python.kit"
# launch the simulator
simulation_app = SimulationApp(config, experience=app_experience)

"""Rest everything follows."""


import gym
import math
import os
from datetime import datetime

from rl_games.common import env_configurations, vecenv
from rl_games.common.algo_observer import IsaacAlgoObserver
from rl_games.torch_runner import Runner

from omni.isaac.orbit.utils.io import dump_pickle, dump_yaml

import omni.isaac.contrib_envs  # noqa: F401
import omni.isaac.orbit_envs  # noqa: F401
from omni.isaac.orbit_envs.utils import parse_env_cfg
from omni.isaac.orbit_envs.utils.wrappers.rl_games import RlGamesGpuEnv, RlGamesVecEnvWrapper

from config import parse_rlg_cfg


def main():
    """Train with RL-Games agent."""

    args_cli_seed = args_cli.seed

    # parse configuration
    env_cfg = parse_env_cfg(args_cli.task, use_gpu=not args_cli.cpu, num_envs=args_cli.num_envs)
    agent_cfg = parse_rlg_cfg(args_cli.task)
    # override from command line
    if args_cli_seed is not None:
        agent_cfg["params"]["seed"] = args_cli_seed

    # specify directory for logging experiments
    log_root_path = os.path.join("logs", "rl_games", agent_cfg["params"]["config"]["name"])
    log_root_path = os.path.abspath(log_root_path)
    print(f"[INFO] Logging experiment in directory: {log_root_path}")
    # specify directory for logging runs
    if "full_experiment_name" not in agent_cfg["params"]["config"]:
        log_dir = datetime.now().strftime("%b%d_%H-%M-%S")
    else:
        log_dir = agent_cfg["params"]["config"]["full_experiment_name"]
    # set directory into agent config
    # logging directory path: <train_dir>/<full_experiment_name>
    agent_cfg["params"]["config"]["train_dir"] = log_root_path
    agent_cfg["params"]["config"]["full_experiment_name"] = log_dir

    # dump the configuration into log-directory
    dump_yaml(os.path.join(log_root_path, log_dir, "params", "env.yaml"), env_cfg)
    dump_yaml(os.path.join(log_root_path, log_dir, "params", "agent.yaml"), agent_cfg)
    dump_pickle(os.path.join(log_root_path, log_dir, "params", "env.pkl"), env_cfg)
    dump_pickle(os.path.join(log_root_path, log_dir, "params", "agent.pkl"), agent_cfg)

    # read configurations about the agent-training
    rl_device = agent_cfg["params"]["config"]["device"]
    clip_obs = agent_cfg["params"]["env"].get("clip_observations", math.inf)
    clip_actions = agent_cfg["params"]["env"].get("clip_actions", math.inf)

    # create isaac environment
    env = gym.make(args_cli.task, cfg=env_cfg, headless=args_cli.headless)
    # wrap around environment for rl-games
    env = RlGamesVecEnvWrapper(env, rl_device, clip_obs, clip_actions)

    # register the environment to rl-games registry
    # note: in agents configuration: environment name must be "rlgpu"
    vecenv.register(
        "IsaacRlgWrapper", lambda config_name, num_actors, **kwargs: RlGamesGpuEnv(config_name, num_actors, **kwargs)
    )
    env_configurations.register("rlgpu", {"vecenv_type": "IsaacRlgWrapper", "env_creator": lambda **kwargs: env})

    # set number of actors into agent config
    agent_cfg["params"]["config"]["num_actors"] = env.unwrapped.num_envs
    # create runner from rl-games
    runner = Runner(IsaacAlgoObserver())
    runner.load(agent_cfg)

    # set seed of the env
    env.seed(agent_cfg["params"]["seed"])
    # reset the agent and env
    runner.reset()
    # train the agent
    runner.run({"train": True, "play": False, "sigma": None})

    # close the simulator
    env.close()
    simulation_app.close()


if __name__ == "__main__":
    main()
