using System.Linq;
using NUnit.Framework;
using UnityEngine;
using UnityEditor;
using Unity.Barracuda;
using Unity.MLAgents.Actuators;
using Unity.MLAgents.Inference;
using Unity.MLAgents.Policies;

namespace Unity.MLAgents.Tests
{
    [TestFixture]
    public class ModelRunnerTest
    {
        const string k_continuousONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/continuous2vis8vec2action_v1_0.onnx";
        const string k_discreteONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/discrete1vis0vec_2_3action_recurr_v1_0.onnx";
        const string k_hybridONNXPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/hybrid0vis53vec_3c_2daction_v1_0.onnx";
        const string k_continuousNNPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/continuous2vis8vec2action_deprecated_v1_0.nn";
        const string k_discreteNNPath = "Packages/com.unity.ml-agents/Tests/Editor/TestModels/discrete1vis0vec_2_3action_recurr_deprecated_v1_0.nn";

        NNModel continuousONNXModel;
        NNModel discreteONNXModel;
        NNModel hybridONNXModel;
        NNModel continuousNNModel;
        NNModel discreteNNModel;
        Test3DSensorComponent sensor_21_20_3;
        Test3DSensorComponent sensor_20_22_3;


        ActionSpec GetContinuous2vis8vec2actionActionSpec()
        {
            return ActionSpec.MakeContinuous(2);
        }

        ActionSpec GetDiscrete1vis0vec_2_3action_recurrModelActionSpec()
        {
            return ActionSpec.MakeDiscrete(2, 3);
        }

        ActionSpec GetHybrid0vis53vec_3c_2dActionSpec()
        {
            return new ActionSpec(3, new[] { 2 });
        }

        [SetUp]
        public void SetUp()
        {
            continuousONNXModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_continuousONNXPath, typeof(NNModel));
            discreteONNXModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_discreteONNXPath, typeof(NNModel));
            hybridONNXModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_hybridONNXPath, typeof(NNModel));
            continuousNNModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_continuousNNPath, typeof(NNModel));
            discreteNNModel = (NNModel)AssetDatabase.LoadAssetAtPath(k_discreteNNPath, typeof(NNModel));
            var go = new GameObject("SensorA");
            sensor_21_20_3 = go.AddComponent<Test3DSensorComponent>();
            sensor_21_20_3.Sensor = new Test3DSensor("SensorA", 21, 20, 3);
            sensor_20_22_3 = go.AddComponent<Test3DSensorComponent>();
            sensor_20_22_3.Sensor = new Test3DSensor("SensorB", 20, 22, 3);
        }

        [Test]
        public void TestModelExist()
        {
            Assert.IsNotNull(continuousONNXModel);
            Assert.IsNotNull(discreteONNXModel);
            Assert.IsNotNull(hybridONNXModel);
            Assert.IsNotNull(continuousNNModel);
            Assert.IsNotNull(discreteNNModel);
        }

        [Test]
        public void TestCreation()
        {
            var inferenceDevice = InferenceDevice.Burst;
            var modelRunner = new ModelRunner(continuousONNXModel, GetContinuous2vis8vec2actionActionSpec(), inferenceDevice);
            modelRunner.Dispose();
            modelRunner = new ModelRunner(discreteONNXModel, GetDiscrete1vis0vec_2_3action_recurrModelActionSpec(), inferenceDevice);
            modelRunner.Dispose();
            modelRunner = new ModelRunner(hybridONNXModel, GetHybrid0vis53vec_3c_2dActionSpec(), inferenceDevice);
            modelRunner.Dispose();
            modelRunner = new ModelRunner(continuousNNModel, GetContinuous2vis8vec2actionActionSpec(), inferenceDevice);
            modelRunner.Dispose();
            modelRunner = new ModelRunner(discreteNNModel, GetDiscrete1vis0vec_2_3action_recurrModelActionSpec(), inferenceDevice);
            modelRunner.Dispose();
        }

        [Test]
        public void TestHasModel()
        {
            var modelRunner = new ModelRunner(continuousONNXModel, GetContinuous2vis8vec2actionActionSpec(), InferenceDevice.CPU);
            Assert.True(modelRunner.HasModel(continuousONNXModel, InferenceDevice.CPU));
            Assert.False(modelRunner.HasModel(continuousONNXModel, InferenceDevice.GPU));
            Assert.False(modelRunner.HasModel(discreteONNXModel, InferenceDevice.CPU));
            modelRunner.Dispose();
        }

        [Test]
        public void TestRunModel()
        {
            var actionSpec = GetDiscrete1vis0vec_2_3action_recurrModelActionSpec();
            var modelRunner = new ModelRunner(discreteONNXModel, actionSpec, InferenceDevice.Burst);
            var info1 = new AgentInfo();
            info1.episodeId = 1;
            modelRunner.PutObservations(info1, new[] { sensor_21_20_3.CreateSensors()[0] }.ToList());
            var info2 = new AgentInfo();
            info2.episodeId = 2;
            modelRunner.PutObservations(info2, new[] { sensor_21_20_3.CreateSensors()[0] }.ToList());

            modelRunner.DecideBatch();

            Assert.IsFalse(modelRunner.GetAction(1).Equals(ActionBuffers.Empty));
            Assert.IsFalse(modelRunner.GetAction(2).Equals(ActionBuffers.Empty));
            Assert.IsTrue(modelRunner.GetAction(3).Equals(ActionBuffers.Empty));
            Assert.AreEqual(actionSpec.NumDiscreteActions, modelRunner.GetAction(1).DiscreteActions.Length);
            modelRunner.Dispose();
        }
    }
}