from typing import Optional, Tuple, Type, TypeVar, Union

import torch
import torch.nn as nn
from torch.distributions import Distribution, Normal

from rl_algo_impls.shared.actor.actor import Actor, PiForward
from rl_algo_impls.shared.module.module import mlp


class TanhBijector:
    def __init__(self, epsilon: float = 1e-6) -> None:
        self.epsilon = epsilon

    @staticmethod
    def forward(x: torch.Tensor) -> torch.Tensor:
        return torch.tanh(x)

    @staticmethod
    def inverse(y: torch.Tensor) -> torch.Tensor:
        eps = torch.finfo(y.dtype).eps
        clamped_y = y.clamp(min=-1.0 + eps, max=1.0 - eps)
        return torch.atanh(clamped_y)

    def log_prob_correction(self, x: torch.Tensor) -> torch.Tensor:
        return torch.log(1.0 - torch.tanh(x) ** 2 + self.epsilon)


def sum_independent_dims(tensor: torch.Tensor) -> torch.Tensor:
    if len(tensor.shape) > 1:
        return tensor.sum(dim=1)
    return tensor.sum()


class StateDependentNoiseDistribution(Normal):
    def __init__(
        self,
        loc,
        scale,
        latent_sde: torch.Tensor,
        exploration_mat: torch.Tensor,
        exploration_matrices: torch.Tensor,
        bijector: Optional[TanhBijector] = None,
        validate_args=None,
    ):
        super().__init__(loc, scale, validate_args)
        self.latent_sde = latent_sde
        self.exploration_mat = exploration_mat
        self.exploration_matrices = exploration_matrices
        self.bijector = bijector

    def log_prob(self, a: torch.Tensor) -> torch.Tensor:
        gaussian_a = self.bijector.inverse(a) if self.bijector else a
        log_prob = sum_independent_dims(super().log_prob(gaussian_a))
        if self.bijector:
            log_prob -= torch.sum(self.bijector.log_prob_correction(gaussian_a), dim=1)
        return log_prob

    def sample(self) -> torch.Tensor:
        noise = self._get_noise()
        actions = self.mean + noise
        return self.bijector.forward(actions) if self.bijector else actions

    def _get_noise(self) -> torch.Tensor:
        if len(self.latent_sde) == 1 or len(self.latent_sde) != len(
            self.exploration_matrices
        ):
            return torch.mm(self.latent_sde, self.exploration_mat)
        # (batch_size, n_features) -> (batch_size, 1, n_features)
        latent_sde = self.latent_sde.unsqueeze(dim=1)
        # (batch_size, 1, n_actions)
        noise = torch.bmm(latent_sde, self.exploration_matrices)
        return noise.squeeze(dim=1)

    @property
    def mode(self) -> torch.Tensor:
        mean = super().mode
        return self.bijector.forward(mean) if self.bijector else mean


StateDependentNoiseActorHeadSelf = TypeVar(
    "StateDependentNoiseActorHeadSelf", bound="StateDependentNoiseActorHead"
)


class StateDependentNoiseActorHead(Actor):
    def __init__(
        self,
        act_dim: int,
        in_dim: int,
        hidden_sizes: Tuple[int, ...] = (32,),
        activation: Type[nn.Module] = nn.Tanh,
        init_layers_orthogonal: bool = True,
        log_std_init: float = -0.5,
        full_std: bool = True,
        squash_output: bool = False,
        learn_std: bool = False,
    ) -> None:
        super().__init__()
        self.act_dim = act_dim
        layer_sizes = (in_dim,) + hidden_sizes + (act_dim,)
        if len(layer_sizes) == 2:
            self.latent_net = nn.Identity()
        elif len(layer_sizes) > 2:
            self.latent_net = mlp(
                layer_sizes[:-1],
                activation,
                output_activation=activation,
                init_layers_orthogonal=init_layers_orthogonal,
            )
        self.mu_net = mlp(
            layer_sizes[-2:],
            activation,
            init_layers_orthogonal=init_layers_orthogonal,
            final_layer_gain=0.01,
        )
        self.full_std = full_std
        std_dim = (layer_sizes[-2], act_dim if self.full_std else 1)
        self.log_std = nn.Parameter(
            torch.ones(std_dim, dtype=torch.float32) * log_std_init
        )
        self.bijector = TanhBijector() if squash_output else None
        self.learn_std = learn_std
        self.device = None

        self.exploration_mat = None
        self.exploration_matrices = None
        self.sample_weights()

    def to(
        self: StateDependentNoiseActorHeadSelf,
        device: Optional[torch.device] = None,
        dtype: Optional[Union[torch.dtype, str]] = None,
        non_blocking: bool = False,
    ) -> StateDependentNoiseActorHeadSelf:
        super().to(device, dtype, non_blocking)
        self.device = device
        return self

    def _distribution(self, obs: torch.Tensor) -> Distribution:
        latent = self.latent_net(obs)
        mu = self.mu_net(latent)
        latent_sde = latent if self.learn_std else latent.detach()
        variance = torch.mm(latent_sde**2, self._get_std() ** 2)
        assert self.exploration_mat is not None
        assert self.exploration_matrices is not None
        return StateDependentNoiseDistribution(
            mu,
            torch.sqrt(variance + 1e-6),
            latent_sde,
            self.exploration_mat,
            self.exploration_matrices,
            self.bijector,
        )

    def _get_std(self) -> torch.Tensor:
        std = torch.exp(self.log_std)
        if self.full_std:
            return std
        ones = torch.ones(self.log_std.shape[0], self.act_dim)
        if self.device:
            ones = ones.to(self.device)
        return ones * std

    def forward(
        self,
        obs: torch.Tensor,
        actions: Optional[torch.Tensor] = None,
        action_masks: Optional[torch.Tensor] = None,
    ) -> PiForward:
        assert (
            not action_masks
        ), f"{self.__class__.__name__} does not support action_masks"
        pi = self._distribution(obs)
        return self.pi_forward(pi, actions)

    def sample_weights(self, batch_size: int = 1) -> None:
        std = self._get_std()
        weights_dist = Normal(torch.zeros_like(std), std)
        # Reparametrization trick to pass gradients
        self.exploration_mat = weights_dist.rsample()
        self.exploration_matrices = weights_dist.rsample(torch.Size((batch_size,)))

    @property
    def action_shape(self) -> Tuple[int, ...]:
        return (self.act_dim,)

    def pi_forward(
        self, distribution: Distribution, actions: Optional[torch.Tensor] = None
    ) -> PiForward:
        logp_a = None
        entropy = None
        if actions is not None:
            logp_a = distribution.log_prob(actions)
            entropy = (
                -logp_a
                if self.bijector
                else sum_independent_dims(distribution.entropy())
            )
        return PiForward(distribution, logp_a, entropy)