"""Resource and renderer setup, before LIBERO or OpenGL is imported."""
import hashlib
import json
import os
from pathlib import Path
import sys
import tempfile

ROOT = Path(__file__).resolve().parent.parent
RESOURCES = Path(__file__).resolve().parent / "resources"


def configure(*, renderer=None, config_dir=None):
    selected = renderer or os.environ.get("MUJOCO_GL", "osmesa")
    if selected not in ("osmesa", "egl"):
        raise ValueError("renderer must be osmesa or egl")
    if "mujoco" in sys.modules and os.environ.get("MUJOCO_GL") != selected:
        raise RuntimeError("renderer is already initialized; use a fresh process")
    os.environ["MUJOCO_GL"] = os.environ["PYOPENGL_PLATFORM"] = selected
    for name in ("OMP_NUM_THREADS", "OPENBLAS_NUM_THREADS", "MKL_NUM_THREADS"):
        if not os.environ.get(name, '').isdigit() or int(os.environ[name]) < 1:
            os.environ[name] = "1"
    base = ROOT / "libero/libero"
    extension = ROOT / "libero_rotation_planning"
    paths = dict(benchmark_root=str(base), assets=str(base / "assets"),
                 bddl_files=str(extension / "bddl_files"),
                 init_states=str(extension / "init_files"),
                 datasets=str(RESOURCES / "expert_reference/dataset"))
    cache = Path(os.environ.get("XDG_CACHE_HOME", Path.home() / ".cache"))
    default = cache / "libero-geomotion" / hashlib.sha256(str(ROOT).encode()).hexdigest()[:16]
    target = Path(config_dir or os.environ.get("LIBERO_CONFIG_PATH", default)).resolve()
    existing_config = getattr(sys.modules.get("libero.libero"), "config_file", None)
    if existing_config is not None:
        existing = Path(existing_config).resolve()
        if existing != target / "config.yaml":
            raise RuntimeError("LIBERO config already initialized; use a fresh process")
    target.mkdir(parents=True, exist_ok=True)
    contents = json.dumps(paths, indent=2) + "\n"
    path = target / "config.yaml"
    if not path.exists() or path.read_text() != contents:
        with tempfile.NamedTemporaryFile(mode="w", dir=target, delete=False) as stream:
            stream.write(contents)
            temporary = stream.name
        os.replace(temporary, path)
    os.environ["LIBERO_CONFIG_PATH"] = str(target)
    return paths


def reference_manifest():
    return json.loads((RESOURCES / "expert_reference/reference_manifest.json").read_text())


def evaluation_protocol():
    return json.loads((RESOURCES / "evaluation_protocol.json").read_text())


def task_manifest():
    path = ROOT / "libero_rotation_planning/benchmark/task_manifest.json"
    return json.loads(path.read_text())