import torch
from copy import deepcopy

from dizoo.mujoco.config.hopper_td3_data_generation_config import main_config, create_config
from ding.entry import serial_pipeline_offline, collect_demo_data, eval, serial_pipeline


def train_td3_bc(args):
    from dizoo.mujoco.config.hopper_td3_bc_config import main_config, create_config
    main_config.exp_name = 'td3_bc'
    main_config.policy.collect.data_path = './td3/expert_demos.hdf5'
    main_config.policy.collect.data_type = 'hdf5'
    config = deepcopy([main_config, create_config])
    serial_pipeline_offline(config, seed=args.seed)


def eval_ckpt(args):
    main_config.exp_name = 'td3'
    main_config.policy.learn.learner.load_path = './td3/ckpt/ckpt_best.pth.tar'
    main_config.policy.learn.learner.hook.load_ckpt_before_run = './td3/ckpt/ckpt_best.pth.tar'
    state_dict = torch.load(main_config.policy.learn.learner.load_path, map_location='cpu')
    config = deepcopy([main_config, create_config])
    eval(config, seed=args.seed, load_path=main_config.policy.learn.learner.hook.load_ckpt_before_run)
    # eval(config, seed=args.seed, state_dict=state_dict)


def generate(args):
    main_config.exp_name = 'td3'
    main_config.policy.learn.learner.load_path = './td3/ckpt/ckpt_best.pth.tar'
    main_config.policy.collect.save_path = './td3/expert.pkl'
    main_config.policy.collect.data_type = 'hdf5'
    config = deepcopy([main_config, create_config])
    state_dict = torch.load(main_config.policy.learn.learner.load_path, map_location='cpu')
    collect_demo_data(
        config,
        collect_count=main_config.policy.other.replay_buffer.replay_buffer_size,
        seed=args.seed,
        expert_data_path=main_config.policy.collect.save_path,
        state_dict=state_dict
    )


def train_expert(args):
    from dizoo.mujoco.config.hopper_td3_config import main_config, create_config
    main_config.exp_name = 'td3'
    config = deepcopy([main_config, create_config])
    serial_pipeline(config, seed=args.seed, max_iterations=int(1e6))


if __name__ == "__main__":
    import argparse

    parser = argparse.ArgumentParser()
    parser.add_argument('--seed', '-s', type=int, default=0)
    args = parser.parse_args()

    train_expert(args)
    eval_ckpt(args)
    generate(args)
    train_td3_bc(args)