import os, inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0, parentdir)

import math
import gym
from gym import spaces
from gym.utils import seeding
import numpy as np
import time
import pybullet as p
from . import kuka
import random
import pybullet_data
from packaging.version import parse as parse_version

maxSteps = 1000

RENDER_HEIGHT = 720
RENDER_WIDTH = 960


class KukaCamGymEnv(gym.Env):
  metadata = {'render.modes': ['human', 'rgb_array'], 'video.frames_per_second': 50}

  def __init__(self,
               urdfRoot=pybullet_data.getDataPath(),
               actionRepeat=1,
               isEnableSelfCollision=True,
               renders=False,
               isDiscrete=False):
    self._timeStep = 1. / 240.
    self._urdfRoot = urdfRoot
    self._actionRepeat = actionRepeat
    self._isEnableSelfCollision = isEnableSelfCollision
    self._observation = []
    self._envStepCounter = 0
    self._renders = renders
    self._width = 341
    self._height = 256
    self._isDiscrete = isDiscrete
    self.terminated = 0
    self._p = p
    if self._renders:
      cid = p.connect(p.SHARED_MEMORY)
      if (cid < 0):
        p.connect(p.GUI)
      p.resetDebugVisualizerCamera(1.3, 180, -41, [0.52, -0.2, -0.33])
    else:
      p.connect(p.DIRECT)
    #timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "kukaTimings.json")
    self.seed()
    self.reset()
    observationDim = len(self.getExtendedObservation())
    #print("observationDim")
    #print(observationDim)

    observation_high = np.array([np.finfo(np.float32).max] * observationDim)
    if (self._isDiscrete):
      self.action_space = spaces.Discrete(7)
    else:
      action_dim = 3
      self._action_bound = 1
      action_high = np.array([self._action_bound] * action_dim)
      self.action_space = spaces.Box(-action_high, action_high, dtype=np.float32)
    self.observation_space = spaces.Box(low=0,
                                        high=255,
                                        shape=(self._height, self._width, 4),
                                        dtype=np.uint8)
    self.viewer = None

  def reset(self):
    self.terminated = 0
    p.resetSimulation()
    p.setPhysicsEngineParameter(numSolverIterations=150)
    p.setTimeStep(self._timeStep)
    p.loadURDF(os.path.join(self._urdfRoot, "plane.urdf"), [0, 0, -1])

    p.loadURDF(os.path.join(self._urdfRoot, "table/table.urdf"), 0.5000000, 0.00000, -.820000,
               0.000000, 0.000000, 0.0, 1.0)

    xpos = 0.5 + 0.2 * random.random()
    ypos = 0 + 0.25 * random.random()
    ang = 3.1415925438 * random.random()
    orn = p.getQuaternionFromEuler([0, 0, ang])
    self.blockUid = p.loadURDF(os.path.join(self._urdfRoot, "block.urdf"), xpos, ypos, -0.1,
                               orn[0], orn[1], orn[2], orn[3])

    p.setGravity(0, 0, -10)
    self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
    self._envStepCounter = 0
    p.stepSimulation()
    self._observation = self.getExtendedObservation()
    return np.array(self._observation)

  def __del__(self):
    p.disconnect()

  def seed(self, seed=None):
    self.np_random, seed = seeding.np_random(seed)
    return [seed]

  def getExtendedObservation(self):

    #camEyePos = [0.03,0.236,0.54]
    #distance = 1.06
    #pitch=-56
    #yaw = 258
    #roll=0
    #upAxisIndex = 2
    #camInfo = p.getDebugVisualizerCamera()
    #print("width,height")
    #print(camInfo[0])
    #print(camInfo[1])
    #print("viewMatrix")
    #print(camInfo[2])
    #print("projectionMatrix")
    #print(camInfo[3])
    #viewMat = camInfo[2]
    #viewMat = p.computeViewMatrixFromYawPitchRoll(camEyePos,distance,yaw, pitch,roll,upAxisIndex)
    viewMat = [
        -0.5120397806167603, 0.7171027660369873, -0.47284144163131714, 0.0, -0.8589617609977722,
        -0.42747554183006287, 0.28186774253845215, 0.0, 0.0, 0.5504802465438843,
        0.8348482847213745, 0.0, 0.1925382763147354, -0.24935829639434814, -0.4401884973049164, 1.0
    ]
    #projMatrix = camInfo[3]#[0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
    projMatrix = [
        0.75, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0,
        -0.02000020071864128, 0.0
    ]

    img_arr = p.getCameraImage(width=self._width,
                               height=self._height,
                               viewMatrix=viewMat,
                               projectionMatrix=projMatrix)
    rgb = img_arr[2]
    np_img_arr = np.reshape(rgb, (self._height, self._width, 4))
    self._observation = np_img_arr
    return self._observation

  def step(self, action):
    if (self._isDiscrete):
      dv = 0.01
      dx = [0, -dv, dv, 0, 0, 0, 0][action]
      dy = [0, 0, 0, -dv, dv, 0, 0][action]
      da = [0, 0, 0, 0, 0, -0.1, 0.1][action]
      f = 0.3
      realAction = [dx, dy, -0.002, da, f]
    else:
      dv = 0.01
      dx = action[0] * dv
      dy = action[1] * dv
      da = action[2] * 0.1
      f = 0.3
      realAction = [dx, dy, -0.002, da, f]

    return self.step2(realAction)

  def step2(self, action):
    for i in range(self._actionRepeat):
      self._kuka.applyAction(action)
      p.stepSimulation()
      if self._termination():
        break
      #self._observation = self.getExtendedObservation()
      self._envStepCounter += 1

    self._observation = self.getExtendedObservation()
    if self._renders:
      time.sleep(self._timeStep)

    #print("self._envStepCounter")
    #print(self._envStepCounter)

    done = self._termination()
    reward = self._reward()
    #print("len=%r" % len(self._observation))

    return np.array(self._observation), reward, done, {}

  def render(self, mode='human', close=False):
    if mode != "rgb_array":
      return np.array([])
    return self.getExtendedObservation()

  def _termination(self):
    #print (self._kuka.endEffectorPos[2])
    state = p.getLinkState(self._kuka.kukaUid, self._kuka.kukaEndEffectorIndex)
    actualEndEffectorPos = state[0]

    #print("self._envStepCounter")
    #print(self._envStepCounter)
    if (self.terminated or self._envStepCounter > maxSteps):
      self._observation = self.getExtendedObservation()
      return True
    maxDist = 0.005
    closestPoints = p.getClosestPoints(self._kuka.trayUid, self._kuka.kukaUid, maxDist)

    if (len(closestPoints)):  #(actualEndEffectorPos[2] <= -0.43):
      self.terminated = 1

      #print("closing gripper, attempting grasp")
      #start grasp and terminate
      fingerAngle = 0.3
      for i in range(100):
        graspAction = [0, 0, 0.0001, 0, fingerAngle]
        self._kuka.applyAction(graspAction)
        p.stepSimulation()
        fingerAngle = fingerAngle - (0.3 / 100.)
        if (fingerAngle < 0):
          fingerAngle = 0

      for i in range(1000):
        graspAction = [0, 0, 0.001, 0, fingerAngle]
        self._kuka.applyAction(graspAction)
        p.stepSimulation()
        blockPos, blockOrn = p.getBasePositionAndOrientation(self.blockUid)
        if (blockPos[2] > 0.23):
          #print("BLOCKPOS!")
          #print(blockPos[2])
          break
        state = p.getLinkState(self._kuka.kukaUid, self._kuka.kukaEndEffectorIndex)
        actualEndEffectorPos = state[0]
        if (actualEndEffectorPos[2] > 0.5):
          break

      self._observation = self.getExtendedObservation()
      return True
    return False

  def _reward(self):

    #rewards is height of target object
    blockPos, blockOrn = p.getBasePositionAndOrientation(self.blockUid)
    closestPoints = p.getClosestPoints(self.blockUid, self._kuka.kukaUid, 1000, -1,
                                       self._kuka.kukaEndEffectorIndex)

    reward = -1000
    numPt = len(closestPoints)
    #print(numPt)
    if (numPt > 0):
      #print("reward:")
      reward = -closestPoints[0][8] * 10
    if (blockPos[2] > 0.2):
      #print("grasped a block!!!")
      #print("self._envStepCounter")
      #print(self._envStepCounter)
      reward = reward + 1000

    #print("reward")
    #print(reward)
    return reward

  if parse_version(gym.__version__) < parse_version('0.9.6'):
    _render = render
    _reset = reset
    _seed = seed
    _step = step
