using System;
using System.Reflection;
using System.Collections;
using System.Collections.Generic;

using UnityEngine;
using UnityEngine.UI;
using UnityEditor;
using Unity.MLAgents;
using Unity.MLAgents.Sensors;
using Unity.MLAgents.Actuators;
using System.Linq;

/*主要ML-Agent控制*/

public class AgentWithGun : Agent
{
    public GameObject EnviromentObj;
    public GameObject EnemyContainerObj;
    public GameObject thisAgentObj;
    public GameObject EnvironmentUIControlObj;
    public Transform thisAgent;
    public Camera thisCam;
    public CharacterController PlayerController;
    public GameObject enemyPrefab;
    public GameObject edgeUp;
    public GameObject edgeDown;
    public GameObject edgeLeft;
    public GameObject edgeRight;
    public GameObject edgeAgent_Enemy;


    [Header("Rewards")]
    [Tooltip("Nothing happened reward")]
    public float nonRewardDefault = -0.05f;
    [Tooltip("Agent Do shoot action reward")]
    public float shootRewardDefault = -0.1f;
    [Tooltip("Agent Do shoot action but gun is not read")]
    public float shootWithoutReadyRewardDefault = -0.15f;
    [Tooltip("Hit Enemy reward")]
    public float hitRewardDefault = 2.0f;
    [Tooltip("Episode Win reward")]
    public float winRewardDefault = 10.0f;
    [Tooltip("Episode Lose reward")]
    public float loseRewardDefault = -0.05f;
    [Tooltip("Enemy down reward")]
    public float killRewardDefault = 5.0f;
    [Tooltip("Kill bonus reward stack to nothing happend reward")]
    public float killBonusRewardDefault = 1.0f;

    [Header("Env")]
    public bool lockMouse = false;
    public float Damage = 50; // damage to enemy
    public float fireRate = 0.5f;
    public int enemyNum = 3;
    public int timeLimit = 30;
    public bool lockCameraX = false;
    public bool lockCameraY = true;
    //public Vector3 startPosition = new Vector3(9, 1, 18);

    [Header("GetAxis() Simulate")]
    public float MoveSpeed = 2.0f;
    public float vX = 0f;
    public float vZ = 0f;
    public float acceleration = 0.1f; // 加速度
    public float mouseXSensitivity = 100;
    public float mouseYSensitivity = 200;
    public float yRotation = 0.1f;//定义一个浮点类型的量，记录‘围绕’X轴旋转的角度

    private float startTime = 0;
    private int shoot = 0;
    private float lastShootTime = 0.0f;
    private int nowEnemyNum = 0;
    private int enemyKillCount = 0;
    private int step = 0;
    private int EP = 0;
    public bool defaultTPCamera = true;
    private bool gunReadyToggle = true;
    private RaySensors rayScript;
    private EnviromentUIControl EnvUICon;

    [System.NonSerialized] public float minEnemyAreaX;
    [System.NonSerialized] public float maxEnemyAreaX;
    [System.NonSerialized] public float minEnemyAreaZ;
    [System.NonSerialized] public float maxEnemyAreaZ;
    [System.NonSerialized] public float minAgentAreaX;
    [System.NonSerialized] public float maxAgentAreaX;
    [System.NonSerialized] public float minAgentAreaZ;
    [System.NonSerialized] public float maxAgentAreaZ;

    [System.NonSerialized] public float nonReward;
    [System.NonSerialized] public float shootReward;
    [System.NonSerialized] public float shootWithoutReadyReward;
    [System.NonSerialized] public float hitReward;
    [System.NonSerialized] public float winReward;
    [System.NonSerialized] public float loseReward;
    [System.NonSerialized] public float killReward;
    [System.NonSerialized] public float killBonusReward;
    [System.NonSerialized] public int remainTime;
    [System.NonSerialized] public int finishedState;


    private void Start()
    {
        EnvUICon = EnvironmentUIControlObj.GetComponent<EnviromentUIControl>();
        rayScript = GetComponent<RaySensors>();
        // give default Reward to Reward value will be used.
        nonReward = nonRewardDefault;
        shootReward = shootRewardDefault;
        shootWithoutReadyReward = shootWithoutReadyRewardDefault;
        hitReward = hitRewardDefault;
        winReward = winRewardDefault;
        loseReward = loseRewardDefault;
        killReward = killRewardDefault;
        killBonusReward = killBonusRewardDefault;
        //initialize remainTime
        remainTime = (int)(timeLimit - Time.time + startTime);

        minEnemyAreaX = edgeLeft.transform.localPosition.x + 1.0f;
        maxEnemyAreaX = edgeRight.transform.localPosition.x - 1.0f;
        minEnemyAreaZ = edgeAgent_Enemy.transform.localPosition.z + 1.0f;
        maxEnemyAreaZ = edgeUp.transform.localPosition.z - 1.0f;

        minAgentAreaX = edgeLeft.transform.localPosition.x + 1.0f;
        maxAgentAreaX = edgeRight.transform.localPosition.x - 1.0f;
        minAgentAreaZ = edgeDown.transform.localPosition.z + 1.0f;
        maxAgentAreaZ = edgeAgent_Enemy.transform.localPosition.z - 1.0f;
    }

    /* ----------此Update用于debug，Build前删除或注释掉！----------*/
    /*void Update()
    {
        //Debug.Log(RaySensors.rayTagResult[0]);
    }*/
    /* ----------此Update用于debug，Build前删除或注释掉！----------*/

    // --------------初始化---------------
    // randomInitEnemys随机生成enemy
    public void randomInitEnemys(int EnemyNum)
    {
        for (int i = 0; i < EnemyNum; i++)
        {
            float randX = UnityEngine.Random.Range(minEnemyAreaX, maxEnemyAreaX);
            float randZ = UnityEngine.Random.Range(minEnemyAreaZ, maxEnemyAreaZ);
            int Y = 1;
            Instantiate(enemyPrefab, new Vector3(randX, Y, randZ) + EnviromentObj.transform.position, Quaternion.identity, EnemyContainerObj.transform);
        }
    }

    // --------------初始化---------------
    // randomInitAgent随机位置初始化Agent
    public void randomInitAgent()
    {
        float randX = UnityEngine.Random.Range(minAgentAreaX, maxAgentAreaX);
        float randZ = UnityEngine.Random.Range(minAgentAreaZ, maxAgentAreaZ);
        int Y = 1;
        Vector3 initAgentLoc = new Vector3(randX, Y, randZ);
        thisAgent.localPosition = initAgentLoc;
    }

    // ------------动作处理--------------
    // moveAgent 用于模拟Input.GetAxis移动
    public void moveAgent(int vertical, int horizontal)
    {
        Vector3 thisMovement;

        if (horizontal != 0)//当按下按键（水平方向）
        {
            if (vX < MoveSpeed && vX > -MoveSpeed)//当前速度小于最大速度
            {
                vX += (float)horizontal * acceleration;//增加加速度
            }
            else
            {
                //防止在一瞬间切换输入时速度仍保持不变
                if ((vX * horizontal) > 0)//输入与当前速度方向同向
                {
                    vX = (float)horizontal * MoveSpeed; //限制最大速度
                }
                else
                {
                    vX += (float)horizontal * acceleration;//增加加速度
                }

            }
        }
        else
        {
            if (Math.Abs(vX) > 0.001)
            {
                vX -= (vX / Math.Abs(vX)) * acceleration;//减少加速度
            }
            else
            {
                vX = 0;
            }
        }

        if (vertical != 0)//当按下按键（垂直方向）
        {
            if (vZ < MoveSpeed && vZ > -MoveSpeed)//当前速度小于最大速度
            {
                vZ += (float)vertical * acceleration;//增加加速度
            }
            else
            {
                if ((vZ * vertical) > 0)//输入与当前速度方向同向
                {
                    vZ = (float)vertical * MoveSpeed; //限制最大速度
                }
                else
                {
                    vZ += (float)vertical * acceleration;//增加加速度
                }
            }
        }
        else
        {
            if (Math.Abs(vZ) > 0.001)
            {
                vZ -= (vZ / Math.Abs(vZ)) * acceleration;//减少加速度
            }
            else
            {
                vZ = 0;
            }
        }
        thisMovement = (transform.forward * vZ + transform.right * vX) * MoveSpeed;
        //PlayerController下的.Move为实现物体运动的函数
        //Move()括号内放入一个Vector3类型的量，本例中为Player_Move
        PlayerController.Move(thisMovement * Time.deltaTime);
        // update Key Viewer
    }

    // ------------动作处理--------------
    // cameraControl 用于控制Agent视角转动
    public void cameraControl(float Mouse_X, float Mouse_Y)
    {
        //Mouse_X = Input.GetAxis("Mouse X") * MouseSensitivity * Time.deltaTime;
        //Debug.Log(Input.GetAxis("Mouse X"));
        //Mouse_Y = Input.GetAxis("Mouse Y") * MouseSensitivity * Time.deltaTime;
        if (lockCameraX)
        {
            Mouse_X = 0;
        }
        if (lockCameraY)
        {
            Mouse_Y = 0;
        }
        yRotation = yRotation - Mouse_Y;
        //xRotation值为正时，屏幕下移，当xRotation值为负时，屏幕上移
        //当鼠标向上滑动，Mouse_Y值为正,xRotation-Mouse_Y的值为负,xRotation总的值为负，屏幕视角向上滑动
        //当鼠标向下滑动，Mouse_Y值为负,xRotation-Mouse_Y的值为正,xRotation总的值为正，屏幕视角向下滑动
        //简单来说就是要控制鼠标滑动的方向与屏幕移动的方向要相同

        //limit UP DOWN between -90 -> 90
        yRotation = Mathf.Clamp(yRotation, -90f, 90f);


        //相机左右旋转时，是以Y轴为中心旋转的，上下旋转时，是以X轴为中心旋转的
        thisAgent.Rotate(Vector3.up * Mouse_X);
        //Vector3.up相当于Vector3(0,1,0),CameraRotation.Rotate(Vector3.up * Mouse_X)相当于使CameraRotation对象绕y轴旋转Mouse_X个单位
        //即相机左右旋转时，是以Y轴为中心旋转的，此时Mouse_X控制着值的大小

        //相机在上下旋转移动时，相机方向不会随着移动，类似于低头和抬头，左右移动时，相机方向会随着向左向右移动，类似于向左向右看
        //所以在控制相机向左向右旋转时，要保证和父物体一起转动
        thisCam.transform.localRotation = Quaternion.Euler(yRotation, 0, 0);
        //this.transform指这个CameraRotation的位置,localRotation指的是旋转轴
        //transform.localRotation = Quaternion.Eular(x,y,z)控制旋转的时候，按照X-Y-Z轴的旋转顺规
        //即以围绕X轴旋转x度，围绕Y轴旋转y度，围绕Z轴旋转z度
        //且绕轴旋转的坐标轴是父节点本地坐标系的坐标轴
    }

    // GotKill 获得击杀时用于被呼出
    public void GotKill()
    {
        enemyKillCount += 1;
    }

    // check gun is ready to shoot
    bool gunReady()
    {
        if ((Time.time - lastShootTime) >= fireRate)
        {
            return true;
        }
        else
        {
            return false;
        }
    }

    // ballistic 射击弹道处理，并返回获得reward
    float ballistic()
    {
        Vector3 point = new Vector3(thisCam.pixelWidth / 2, thisCam.pixelHeight / 2, 0);//发射位置
        Ray ray = thisCam.ScreenPointToRay(point);
        RaycastHit hit;
        Debug.DrawRay(ray.origin, ray.direction * 100, Color.blue);
        //按下鼠标左键
        if (shoot != 0 && gunReadyToggle == true)
        {

            lastShootTime = Time.time;
            if (Physics.Raycast(ray, out hit, 100))
            {
                if (hit.collider.tag == "Enemy")
                {
                    GameObject gotHitObj = hit.transform.gameObject;//获取受到Ray撞击的对象
                    gotHitObj.GetComponent<Enemy>().ReactToHit(Damage, thisAgentObj);
                    shoot = 0;
                    return hitReward;
                }
            }
            shoot = 0;
            return shootReward;
        }
        else if (shoot != 0 && gunReadyToggle == false)
        {
            shoot = 0;
            return shootWithoutReadyReward;
        }
        else
        {
            shoot = 0;
            return nonReward;
        }
    }

    // destroyEnemy消除EnemyContainer内所有Enemy
    public void destroyAllEnemys()
    {
        foreach(Transform childObj in EnemyContainerObj.transform)
        {
            if(childObj.tag == "Enemy")
            {
                Destroy(childObj.gameObject);
            }
        }
    }

    // checkFinish 检查是否结束回合返回int值
    // 1 = success,2 = overtime,0 = notover
    int checkFinish()
    {
        if (EnemyContainerObj.transform.childCount <= 0)
        {
            //成功击杀所有Enemy
            return 1;
        }
        else if (Time.time - startTime >= timeLimit)
        {
            //超时失败
            return 2;
        }
        else
        {
            return 0;
        }
    }

    // getEnemyNum 获取现场除了自己以外的敌人数量
    int getEnemyNum()
    {
        int enemyNum = 0;
        GameObject[] EnemyGameObjs;
        EnemyGameObjs = GameObject.FindGameObjectsWithTag("Enemy");
        //遍历所有Enemy
        foreach (GameObject EnemyObj in EnemyGameObjs)
        {
            Vector3 thisEnemyPosition = EnemyObj.transform.localPosition;
            Vector3 thisEnemyScale = EnemyObj.transform.localScale;
            Vector3 MyselfPosition = thisAgent.localPosition;

            //探测到Agent为自己时的处理
            if (thisEnemyPosition == MyselfPosition)
            {
                //Debug.Log("OH It's me");
            }
            else
            {
                enemyNum += 1;
            }
        }
        return enemyNum;
    }

    // enemyNumDiff 获取与上一把相比敌人数量的区别
    int enemyNumDiff()
    {
        int diff = 0;
        int nowEnemyNum = getEnemyNum();
        diff = enemyNum - nowEnemyNum;
        return diff;
    }

    // ------------Reward--------------
    // rewardCalculate 计算本动作的Reward
    public float rewardCalculate()
    {
        float epreward = 0f;
        // 击杀reward判断
        if (enemyKillCount > 0)
        {
            for (int i = 0; i < enemyKillCount; i++)
            {
                epreward += killReward;
                nonReward += killBonusReward;
                shootReward += killBonusReward;
                shootWithoutReadyReward += killBonusReward;
            }
            enemyKillCount = 0;
        }
        else
        {
            enemyKillCount = 0;
        }
        // 射击动作reward判断
        epreward += ballistic();
        return epreward;
    }


    // ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
    // env开始执行初始化
    public override void OnEpisodeBegin()
    {
        step = 0;
        if (lockMouse)
        {
            Cursor.lockState = CursorLockMode.Locked; // hide and lock the mouse
        }
        //iniCharts();
        //thisAgentObj.name = thisAgentObj.GetInstanceID().ToString();
        destroyAllEnemys();
        startTime = Time.time;// Reset StartTime as now time
        randomInitAgent();
        randomInitEnemys(enemyNum);
        nowEnemyNum = getEnemyNum(); // Reset Enemy number
        // give default Reward to Reward value will be used.
        EnvUICon.initChart();
        nonReward = nonRewardDefault;
        shootReward = shootRewardDefault;
        shootWithoutReadyReward = shootWithoutReadyRewardDefault;
        hitReward = hitRewardDefault;
        winReward = winRewardDefault;
        loseReward = loseRewardDefault;
        killReward = killRewardDefault;
        killBonusReward = killBonusRewardDefault;
    }

    // ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
    // 观察情报
    public override void CollectObservations(VectorSensor sensor)
    {

        //List<float> enemyLDisList = RaySensors.enemyLDisList;// All Enemy Lside Distances
        //List<float> enemyRDisList = RaySensors.enemyRDisList;// All Enemy Rside Distances

        rayScript.updateRayInfo();
        float[] myObserve = { thisAgent.localPosition.x, thisAgent.localPosition.y, thisAgent.localPosition.z, thisAgent.rotation.w };
        float[] rayTagResult = rayScript.rayTagResult;// 探测用RayTag结果 float[](raySensorNum,1)
        float[] rayDisResult = rayScript.rayDisResult; // 探测用RayDis结果 float[](raySensorNum,1)
        //float[] focusEnemyObserve = RaySensors.focusEnemyInfo;// 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z

        //sensor.AddObservation(allEnemyNum); // 敌人数量 int
        sensor.AddObservation(myObserve); // 自机位置xyz+朝向 float[](4,1)
        sensor.AddObservation(rayTagResult); // 探测用RayTag结果 float[](raySensorNum,1)
        sensor.AddObservation(rayDisResult); // 探测用RayDis结果 float[](raySensorNum,1)
        //sensor.AddObservation(focusEnemyObserve); // 最近的Enemy情报 float[](3,1) MinEnemyIndex,x,z
        //sensor.AddObservation(raySensorNum); // raySensor数量 int
        gunReadyToggle = gunReady();
        sensor.AddObservation(gunReadyToggle); // save gun is ready?
        //sensor.AddObservation(remainTime); // RemainTime int
    }

    // ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
    // agent 输入处理
    public override void OnActionReceived(ActionBuffers actionBuffers)
    {
        //获取输入
        int vertical = actionBuffers.DiscreteActions[0];
        int horizontal = actionBuffers.DiscreteActions[1];
        int mouseShoot = actionBuffers.DiscreteActions[2];
        float Mouse_X = actionBuffers.ContinuousActions[0];
        if (vertical == 2) vertical = -1;
        if (horizontal == 2) horizontal = -1;
        remainTime = (int)(timeLimit - Time.time + startTime);

        //应用输入
        shoot = mouseShoot;
        cameraControl(Mouse_X, 0);
        moveAgent(vertical, horizontal);
        float thisRoundReward = rewardCalculate();

        //判断结束
        finishedState = checkFinish();
        if (finishedState == 1)
        {
            //Win Finished
            EP += 1;
            EnvUICon.updateChart(winReward);
            SetReward(winReward);
            Debug.Log("reward = " + winReward);
            EndEpisode();
        }
        else if (finishedState == 2)
        {
            //Lose Finished
            EP += 1;
            EnvUICon.updateChart(loseReward);
            SetReward(loseReward);
            Debug.Log("reward = " + loseReward);
            EndEpisode();
        }
        else
        {
            // game not over yet
            step += 1;
            EnvUICon.updateChart(thisRoundReward);
            SetReward(thisRoundReward);
            Debug.Log("reward = " + thisRoundReward);
        }
    }

    // ML-AGENTS处理-------------------------------------------------------------------------------------------ML-AGENTS
    // 控制调试
    public override void Heuristic(in ActionBuffers actionsOut)
    {
        //-------------------BUILD
        ActionSegment<float> continuousActions = actionsOut.ContinuousActions;
        ActionSegment<int> discreteActions = actionsOut.DiscreteActions;

        int vertical = 0;
        int horizontal = 0;
        if (Input.GetKey(KeyCode.W) && !Input.GetKey(KeyCode.S))
        {
            vertical = 1;
        }
        else if (Input.GetKey(KeyCode.S) && !Input.GetKey(KeyCode.W))
        {
            vertical = -1;
        }
        else
        {
            vertical = 0;
        }
        if (Input.GetKey(KeyCode.D) && !Input.GetKey(KeyCode.A))
        {
            horizontal = 1;
        }
        else if (Input.GetKey(KeyCode.A) && !Input.GetKey(KeyCode.D))
        {
            horizontal = -1;
        }
        else
        {
            horizontal = 0;
        }

        if (Input.GetMouseButton(0))
        {
            // Debug.Log("mousebuttonhit");
            shoot = 1;
        }
        else
        {
            shoot = 0;
        }
        discreteActions[0] = vertical;
        discreteActions[1] = horizontal;
        discreteActions[2] = shoot;
        //^^^^^^^^^^^^^^^^^^^^^discrete-Control^^^^^^^^^^^^^^^^^^^^^^

        //vvvvvvvvvvvvvvvvvvvvvvvvvvvvvcontinuous-Controlvvvvvvvvvvvvvvvvvvvvvv
        float Mouse_X = Input.GetAxis("Mouse X") * mouseXSensitivity * Time.deltaTime;
        float Mouse_Y = Input.GetAxis("Mouse Y") * mouseYSensitivity * Time.deltaTime;
        continuousActions[0] = Mouse_X;
        //continuousActions[1] = nonReward;
        //continuousActions[2] = shootReward;
        //continuousActions[3] = shootWithoutReadyReward;
        //continuousActions[4] = hitReward;
        //continuousActions[5] = winReward;
        //continuousActions[6] = loseReward;
        //continuousActions[7] = killReward;
        //continuousActions[1] = Mouse_Y;
        //continuousActions[2] = timeLimit;
        //^^^^^^^^^^^^^^^^^^^^^^^^^^^^^continuous-Control^^^^^^^^^^^^^^^^^^^^^^

    }
}