#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
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 gym, logging
from mpi4py import MPI
from gibson.envs.humanoid_env import HumanoidNavigateEnv
from baselines.common import set_global_seeds
from gibson.utils import pposgd_sensor
from gibson.utils import cnn_policy, mlp_policy
import baselines.common.tf_util as U
import datetime
from baselines import logger
import os.path as osp
import random

def train(num_timesteps, seed):
    rank = MPI.COMM_WORLD.Get_rank()
    sess = U.single_threaded_session()
    sess.__enter__()
    if rank == 0:
        logger.configure()
    else:
        logger.configure(format_strs=[])
    workerseed = seed + 10000 * MPI.COMM_WORLD.Get_rank()
    set_global_seeds(workerseed)

    config_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', 'configs',
                               'humanoid_navigate_nonviz.yaml')
    print(config_file)

    env = HumanoidNavigateEnv(config = config_file)
    
    def mlp_policy_fn(name, sensor_space, ac_space):
        return mlp_policy.MlpPolicy(name=name, ob_space=sensor_space, ac_space=ac_space, hid_size=64, num_hid_layers=2)

    env.seed(workerseed)
    gym.logger.setLevel(logging.WARN)

    pposgd_sensor.learn(env, mlp_policy_fn,
        max_timesteps=int(num_timesteps * 1.1 * 5),
        timesteps_per_actorbatch=6000,
        clip_param=0.2, entcoeff=0.00,
        optim_epochs=4, optim_stepsize=1e-4, optim_batchsize=64,
        gamma=0.99, lam=0.95,
        schedule='linear',
        save_per_acts=500
    )
    env.close()


def callback(lcl, glb):
    # stop training if reward exceeds 199
    total = sum(lcl['episode_rewards'][-101:-1]) / 100
    totalt = lcl['t']
    is_solved = totalt > 2000 and total >= -50
    return is_solved


def main():

    train(num_timesteps=10000, seed=5)

if __name__ == '__main__':
    import argparse
    parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
    parser.add_argument('--num_gpu', type=int, default=1)
    parser.add_argument('--gpu_count', type=int, default=0)
    parser.add_argument('--meta', type=str, default="")
    parser.add_argument('--reload_name', type=str, default=None)
    parser.add_argument('--save_name', type=str, default=None)
    args = parser.parse_args()
    main()
