import torch
from copy import deepcopy

from ding.entry import serial_pipeline_offline, collect_demo_data, eval, serial_pipeline


def train_cql(args):
    from dizoo.classic_control.cartpole.config.cartpole_cql_config import main_config, create_config
    main_config.exp_name = 'cartpole_cql'
    main_config.policy.collect.data_path = './cartpole/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):
    from dizoo.classic_control.cartpole.config.cartpole_qrdqn_config import main_config, create_config
    main_config, create_config = deepcopy(main_config), deepcopy(create_config)
    main_config.exp_name = 'cartpole'
    config = deepcopy([main_config, create_config])
    eval(config, seed=args.seed, load_path='./cartpole/ckpt/ckpt_best.pth.tar')


def generate(args):
    from dizoo.classic_control.cartpole.config.cartpole_qrdqn_generation_data_config import main_config, create_config
    main_config.exp_name = 'cartpole'
    main_config.policy.collect.save_path = './cartpole/expert.pkl'
    main_config.policy.collect.data_type = 'hdf5'
    config = deepcopy([main_config, create_config])
    state_dict = torch.load('./cartpole/ckpt/ckpt_best.pth.tar', map_location='cpu')
    collect_demo_data(
        config,
        collect_count=10000,
        seed=args.seed,
        expert_data_path=main_config.policy.collect.save_path,
        state_dict=state_dict
    )


def train_expert(args):
    from dizoo.classic_control.cartpole.config.cartpole_qrdqn_config import main_config, create_config
    main_config, create_config = deepcopy(main_config), deepcopy(create_config)
    main_config.exp_name = 'cartpole'
    config = deepcopy([main_config, create_config])
    serial_pipeline(config, seed=args.seed)


if __name__ == "__main__":
    import argparse

    parser = argparse.ArgumentParser()
    parser.add_argument('--seed', '-s', type=int, default=10)
    args = parser.parse_args()

    train_expert(args)
    eval_ckpt(args)
    generate(args)
    train_cql(args)