#!/usr/bin/env python

# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import logging
from collections import deque

import numpy as np
import torch
from torch import nn

from lerobot.configs import FeatureType, PolicyFeature, PreTrainedConfig
from lerobot.lerobot_types import PolicyAction, RobotAction, RobotObservation
from lerobot.utils.constants import ACTION, OBS_STR
from lerobot.utils.feature_utils import build_dataset_frame


def populate_queues(
    queues: dict[str, deque], batch: dict[str, torch.Tensor], exclude_keys: list[str] | None = None
):
    if exclude_keys is None:
        exclude_keys = []
    for key in batch:
        # Ignore keys not in the queues already (leaving the responsibility to the caller to make sure the
        # queues have the keys they want).
        if key not in queues or key in exclude_keys:
            continue
        if len(queues[key]) != queues[key].maxlen:
            # initialize by copying the first observation several times until the queue is full
            while len(queues[key]) != queues[key].maxlen:
                queues[key].append(batch[key])
        else:
            # add latest observation to the queue
            queues[key].append(batch[key])
    return queues


def get_device_from_parameters(module: nn.Module) -> torch.device:
    """Get a module's device by checking one of its parameters.

    Note: assumes that all parameters have the same device
    """
    return next(iter(module.parameters())).device


def get_dtype_from_parameters(module: nn.Module) -> torch.dtype:
    """Get a module's parameter dtype by checking one of its parameters.

    Note: assumes that all parameters have the same dtype.
    """
    return next(iter(module.parameters())).dtype


def get_output_shape(module: nn.Module, input_shape: tuple) -> tuple:
    """
    Calculates the output shape of a PyTorch module given an input shape.

    Args:
        module (nn.Module): a PyTorch module
        input_shape (tuple): A tuple representing the input shape, e.g., (batch_size, channels, height, width)

    Returns:
        tuple: The output shape of the module.
    """
    dummy_input = torch.zeros(size=input_shape)
    with torch.inference_mode():
        output = module(dummy_input)
    return tuple(output.shape)


def log_model_loading_keys(missing_keys: list[str], unexpected_keys: list[str]) -> None:
    """Log missing and unexpected keys when loading a model.

    Args:
        missing_keys (list[str]): Keys that were expected but not found.
        unexpected_keys (list[str]): Keys that were found but not expected.
    """
    if missing_keys:
        logging.warning(f"Missing key(s) when loading model: {missing_keys}")
    if unexpected_keys:
        logging.warning(f"Unexpected key(s) when loading model: {unexpected_keys}")


# TODO(Steven): Move this function to a proper preprocessor step
def prepare_observation_for_inference(
    observation: dict[str, np.ndarray],
    device: torch.device,
    task: str | None = None,
    robot_type: str | None = None,
) -> RobotObservation:
    """Converts observation data to model-ready PyTorch tensors.

    This function takes a dictionary of NumPy arrays, performs necessary
    preprocessing, and prepares it for model inference. The steps include:
    1. Converting NumPy arrays to PyTorch tensors.
    2. Normalizing and permuting image data (if any).
    3. Adding a batch dimension to each tensor.
    4. Moving all tensors to the specified compute device.
    5. Adding task and robot type information to the dictionary.

    Args:
        observation: A dictionary mapping observation names (str) to NumPy
            array data. For images, the format is expected to be (H, W, C).
        device: The PyTorch device (e.g., 'cpu' or 'cuda') to which the
            tensors will be moved.
        task: An optional string identifier for the current task.
        robot_type: An optional string identifier for the robot being used.

    Returns:
        A dictionary where values are PyTorch tensors preprocessed for
        inference, residing on the target device. Image tensors are reshaped
        to (C, H, W) and normalized to a [0, 1] range.
    """
    for name in observation:
        observation[name] = torch.from_numpy(observation[name])
        if "image" in name:
            if observation[name].dtype == torch.uint8:
                observation[name] = observation[name].type(torch.float32) / 255
            observation[name] = observation[name].permute(2, 0, 1).contiguous()
        observation[name] = observation[name].unsqueeze(0)
        observation[name] = observation[name].to(device)

    observation["task"] = task if task else ""
    observation["robot_type"] = robot_type if robot_type else ""

    return observation


def build_inference_frame(
    observation: RobotObservation,
    device: torch.device,
    ds_features: dict[str, dict],
    task: str | None = None,
    robot_type: str | None = None,
) -> RobotObservation:
    """Constructs a model-ready observation tensor dict from a raw observation.

    This utility function orchestrates the process of converting a raw,
    unstructured observation from an environment into a structured,
    tensor-based format suitable for passing to a policy model.

    Args:
        observation: The raw observation dictionary, which may contain
            superfluous keys.
        device: The target PyTorch device for the final tensors.
        ds_features: A configuration dictionary that specifies which features
            to extract from the raw observation.
        task: An optional string identifier for the current task.
        robot_type: An optional string identifier for the robot being used.

    Returns:
        A dictionary of preprocessed tensors ready for model inference.
    """
    # Extracts the correct keys from the incoming raw observation
    observation = build_dataset_frame(ds_features, observation, prefix=OBS_STR)

    # Performs the necessary conversions to the observation
    observation = prepare_observation_for_inference(observation, device, task, robot_type)

    return observation


def make_robot_action(action_tensor: PolicyAction, ds_features: dict[str, dict]) -> RobotAction:
    """Converts a policy's output tensor into a dictionary of named actions.

    This function translates the numerical output from a policy model into a
    human-readable and robot-consumable format, where each dimension of the
    action tensor is mapped to a named motor or actuator command.

    Args:
        action_tensor: A PyTorch tensor representing the policy's action,
            typically with a batch dimension (e.g., shape [1, action_dim]).
        ds_features: A configuration dictionary containing metadata, including
            the names corresponding to each index of the action tensor.

    Returns:
        A dictionary mapping action names (e.g., "joint_1_motor") to their
        corresponding floating-point values, ready to be sent to a robot
        controller.
    """
    # TODO(Steven): Check if these steps are already in all postprocessor policies
    action_tensor = action_tensor.squeeze(0)
    action_tensor = action_tensor.to("cpu")

    action_names = ds_features[ACTION]["names"]
    act_processed_policy: RobotAction = {
        f"{name}": float(action_tensor[i]) for i, name in enumerate(action_names)
    }
    return act_processed_policy


def raise_feature_mismatch_error(
    provided_features: set[str],
    expected_features: set[str],
) -> None:
    """
    Raises a standardized ValueError for feature mismatches between dataset/environment and policy config.
    """
    missing = expected_features - provided_features
    extra = provided_features - expected_features
    # TODO (jadechoghari): provide a dynamic rename map suggestion to the user.
    raise ValueError(
        f"Feature mismatch between dataset/environment and policy config.\n"
        f"- Missing features: {sorted(missing) if missing else 'None'}\n"
        f"- Extra features: {sorted(extra) if extra else 'None'}\n\n"
        f"Please ensure your dataset and policy use consistent feature names.\n"
        f"If your dataset uses different observation keys (e.g., cameras named differently), "
        f"use the `--rename_map` argument, for example:\n"
        f'  --rename_map=\'{{"observation.images.left": "observation.images.camera1", '
        f'"observation.images.top": "observation.images.camera2"}}\''
    )


def validate_visual_features_consistency(
    cfg: PreTrainedConfig,
    features: dict[str, PolicyFeature],
) -> None:
    """
    Validates visual feature consistency between a policy config and provided dataset/environment features.

    Validation passes if EITHER:
    - Policy's expected visuals are a subset of dataset (policy uses some cameras, dataset has more)
    - Dataset's provided visuals are a subset of policy (policy declares extras for flexibility)

    Args:
        cfg (PreTrainedConfig): The model or policy configuration containing input_features and type.
        features (Dict[str, PolicyFeature]): A mapping of feature names to PolicyFeature objects.
    """
    expected_visuals = {k for k, v in cfg.input_features.items() if v.type == FeatureType.VISUAL}
    provided_visuals = {k for k, v in features.items() if v.type == FeatureType.VISUAL}

    # Accept if either direction is a subset
    policy_subset_of_dataset = expected_visuals.issubset(provided_visuals)
    dataset_subset_of_policy = provided_visuals.issubset(expected_visuals)

    if not (policy_subset_of_dataset or dataset_subset_of_policy):
        raise_feature_mismatch_error(provided_visuals, expected_visuals)
