import os
from dotenv import load_dotenv
from openai import OpenAI
import json
from json import JSONDecodeError
from urllib.parse import urlparse
from numpy import set_printoptions

try:
    from models import AppAction, AppObservation
except ImportError:
    from app.models import AppAction, AppObservation

try:
    from server.app_environment import AppEnvironment
except ImportError:
    from app.server.app_environment import AppEnvironment

try:
    from grader import *
except ImportError:
    from app.grader import *


load_dotenv()
set_printoptions(precision=2, suppress=True)


def _get_env(*names):
    for name in names:
        value = os.getenv(name)
        if value:
            return value.strip().strip("\"'")
    return None


def _normalize_api_url(raw_url):
    if not raw_url:
        return None

    url = raw_url.strip().strip("\"'")
    if "://" not in url:
        url = f"https://{url.lstrip('/')}"

    parsed = urlparse(url)
    if not parsed.scheme or not parsed.netloc:
        raise RuntimeError(
            "Invalid API base URL. Set API_BASE_URL (or OPENAI_BASE_URL)."
            "URL such as 'https://generativelanguage.googleapis.com/v1beta/openai/'."
        )

    return url


API_URL = _normalize_api_url(
    _get_env("API_BASE_URL", "OPENAI_BASE_URL", "OPENAI_API_BASE")
)
MODEL = _get_env("MODEL_NAME", "OPENAI_MODEL")
API_KEY = _get_env("API_KEY", "OPENAI_API_KEY", "HF_TOKEN")

MAX_STEPS = 8
TEMPERATURE = 0.2
FALLBACK_ACTION = {
    "isSegmentation": False,
    "placement": {},
    "findObjects": {},
    "adjust": ("", "", 0),
}

DEBUG = True

SYSTEM_PROMPT = """
        You are an intelligent agent controlling a 3D object placement environment. Your task is to:

        1. **Segment objects** in the environment if `isSegmentation=True`.
        2. **Identify objects** and their properties (name, stackable) accurately.
        3. **Place objects** in the 3D grid respecting stacking rules and dimensions.
        4. **Adjust object positions** if necessary to optimize placement and maximize rewards.
        5. **Use rewards and feedback** from previous steps to improve future actions.

        You must strictly return actions that conform to this Pydantic schema:

        AppAction:
        {
            placement: Dict[str, Tuple[int, int, int, bool]]
            isSegmentation: bool
            findObjects: Dict[str, Tuple[int, int, int, bool]] 
            adjust : Tuple[str, str, int]
        }

        Rules:
        - Only report objects that are found or placed; empty dicts are valid if none.
        - Coordinates must be within the grid bounds.
        - Respect stackable property: non-stackable objects cannot be placed on top of another object.
        - Use previous step’s reward and rewardFeedback to adjust your strategy.
        - Directions for adjustments for an object can be "UP", "DOWN", "LEFT", "RIGHT", "FORWARD", "BACKWARD", "ROTATE" with a positive integer amount.

        Output:
        - Always return a valid JSON object conforming to the schema.
        - Do not include any extra text, explanations, or commentary.
        - If no action is possible, return empty dicts for `placement` and `findObjects` and an empty tuple for `adjust`.

        Your goal:
        - Maximize cumulative reward.
        - Identify all objects correctly.
        - Place objects efficiently while respecting stacking rules (PS: Do not place the objects in the same location as where it is originally found and use adjust function wherever required.)
        - Learn from reward feedback to improve placement in future steps.

        Always return a valid JSON that conforms exactly to the AppAction Pydantic model:
        {"placement": Dict[str, Tuple[int,int,int,bool]] or {}, "isSegmentation": bool, "findObjects": Dict[str, Tuple[int,int,int,bool]] or {},"adjust": Tuple[str,str,int] or ("", "", 0)}
        
        Actions:
        - To place an object: {"isSegmentation": false, "placement": {"object_name": [x, y, z, stackable]}, "findObjects": {}, "adjust":("", "", 0)}
        - To segment objects: {"isSegmentation": true, "placement": {}, "findObjects": {"object_name": [x, y, z, stackable]}, "adjust":("", "", 0)}
        - To adjust objects: {"isSegmentation": false, "placement": {}, "findObjects": {}, "adjust":("object_name", "direction", amount)}
        - To adjust and place objects: {"isSegmentation": false, "placement": {"object_name": [x, y, z, stackable]}, "findObjects": {}, "adjust":("object_name", "direction", amount)}
        
        Do not include explanations, text, or extra fields.
        If no objects are found, placed or adjusted, return empty dicts for placement and findObjects and empty tuple for adjust.
        The output must be parseable and valid for AppAction(**json_output).""".strip()

MESSAGES = [{"role": "system", "content": SYSTEM_PROMPT}]


def _fallback_action() -> AppAction:
    return AppAction(**FALLBACK_ACTION)


def _extract_json_payload(output_str: str) -> str:
    output_str = output_str.strip()

    if output_str.startswith("```"):
        lines = output_str.splitlines()
        if len(lines) >= 3:
            output_str = "\n".join(lines[1:-1]).strip()

    start = output_str.find("{")
    end = output_str.rfind("}")

    if start == -1 or end == -1 or end < start:
        raise JSONDecodeError("No JSON object found in model output", output_str, 0)

    return output_str[start : end + 1]


def parse_output(output_str: str) -> AppAction:
    try:
        data = json.loads(_extract_json_payload(output_str))
        return AppAction(**data)
    except (JSONDecodeError, TypeError, ValueError) as exc:
        print(f"Invalid Output: {exc}")
        print(f"Raw model output: {output_str!r}")
        return _fallback_action()


def main() -> None:
    if not API_URL or not MODEL or not API_KEY:
        missing = [
            name
            for name, value in (
                ("API_BASE_URL", API_URL),
                ("MODEL_NAME", MODEL),
                ("API_KEY/HF_TOKEN", API_KEY),
            )
            if not value
        ]
        raise RuntimeError(
            f"Missing required environment variables: {', '.join(missing)}"
        )

    env = AppEnvironment()
    observation: AppObservation = env.reset()

    client = OpenAI(
        base_url=API_URL,
        api_key=API_KEY,
    )
    for i in range(1, MAX_STEPS + 1):
        MESSAGES.append(
            {
                "role": "user",
                "content": f"""Observation: {observation.model_dump_json()}, 
                    Previous reward: {observation.reward}, 
                    Previous reward list: {observation.rewardList}, 
                    Previous reward feedback: {observation.rewardFeedback}, 
                    Step: {i}""".strip(),
            }
        )

        llm_output = client.chat.completions.create(
            model=MODEL,
            messages=[
                MESSAGES[0],
                {
                    "role": "user",
                    "content": f"""Observation: {observation.model_dump_json()}, 
                    Previous reward: {observation.reward}, 
                    Previous reward list: {observation.rewardList}, 
                    Previous reward feedback: {observation.rewardFeedback}, 
                    Step: {i}""".strip(),
                },
            ],
            temperature=TEMPERATURE,
        )

        message_content = llm_output.choices[0].message.content or ""

        action: AppAction = parse_output(message_content)
        observation: AppObservation = env.step(action)

        MESSAGES.append({"role": "assistant", "content": message_content})
        print(message_content)
        print(observation)

        if observation.isDone:
            break

    segment = grade_segmentation(observation)
    placing = grade_placement(observation)
    adjust = grade_adjustment(observation)


if __name__ == "__main__":
    main()