"""
Copyright 2021 Google LLC

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

     https://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.
"""

"""Unit tests for RobotComponent and RobotGroupConfig."""

from typing import Any

from absl.testing import absltest
import numpy as np

from adept_envs.components.robot.robot import ControlMode, RobotComponent
from adept_envs.utils.testing.mock_sim_scene import MockSimScene


class RobotComponentTest(absltest.TestCase):
    """Unit test class for RobotComponent."""

    def test_get_state(self):
        """Tests querying the state of multiple groups."""
        sim_scene = MockSimScene(nq=10)  # type: Any
        sim_scene.data.qpos[:] = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10]
        sim_scene.data.qvel[:] = [11, 12, 13, 14, 15, 16, 17, 18, 19, 20]
        robot = RobotComponent(
            sim_scene,
            groups={
                'a': {
                    'qpos_indices': [0, 1, 3, 5],
                },
                'b': {
                    'qpos_indices': [2, 6],
                    'qvel_indices': [7, 8, 9],
                },
            })
        a_state, b_state = robot.get_state(['a', 'b'])
        np.testing.assert_array_equal(a_state.qpos, [1, 2, 4, 6])
        np.testing.assert_array_equal(a_state.qvel, [11, 12, 14, 16])
        np.testing.assert_array_equal(b_state.qpos, [3, 7])
        np.testing.assert_array_equal(b_state.qvel, [18, 19, 20])

    def test_step(self):
        """Tests stepping with an action for multiple groups."""
        sim_scene = MockSimScene(nq=10, ctrl_range=[-1, 1])  # type: Any
        robot = RobotComponent(
            sim_scene,
            groups={
                'a': {
                    'qpos_indices': [0, 1, 3, 5],
                },
                'b': {
                    'actuator_indices': [7, 8, 9],
                },
            })
        robot.step({
            'a': np.array([.2, .4, .6, .8]),
            'b': np.array([.1, .3, .5])
        })
        np.testing.assert_allclose(sim_scene.data.ctrl,
                                   [.2, .4, 0, .6, 0, .8, 0, .1, .3, .5])

        self.assertEqual(sim_scene.advance.call_count, 1)

    def test_step_denormalize(self):
        """Tests denormalizing the actions to the sim control range."""
        sim_scene = MockSimScene(nq=5, ctrl_range=[0, 10])  # type: Any
        robot = RobotComponent(
            sim_scene, groups={'a': {
                'qpos_indices': [0, 1, 2, 3, 4],
            }})
        robot.step({
            'a': np.array([-1, 1, -0.5, 0.5, 0]),
        })
        np.testing.assert_allclose(sim_scene.data.ctrl, [0, 10, 2.5, 7.5, 5])

    def test_step_position_control_bounds(self):
        """Tests action clamping when doing position control."""
        sim_scene = MockSimScene(nq=5, ctrl_range=[-1, 1])  # type: Any
        sim_scene.data.qpos[:] = [-0.4, -0.2, 0, 0.2, 0.4]
        robot = RobotComponent(
            sim_scene,
            groups={
                'a': {
                    'qpos_indices': [0, 1, 2, 3, 4],
                    'qpos_range': [(-0.5, 0.5)] * 5,
                    'qvel_range': [(-0.2, 0.2)] * 5,
                }
            })
        robot.step({'a': np.array([-1, -1, 0.2, 1, 1])})
        np.testing.assert_allclose(sim_scene.data.ctrl,
                                   [-0.5, -0.4, 0.1, 0.4, 0.5])

    def test_step_velocity_control_bounds(self):
        """Tests action clamping when doing velocity control."""
        sim_scene = MockSimScene(nq=3, ctrl_range=[-10, 10])  # type: Any
        robot = RobotComponent(
            sim_scene,
            groups={
                'a': {
                    'control_mode': ControlMode.JOINT_VELOCITY,
                    'qpos_indices': [0, 1, 2],
                    'qvel_range': [(-2, 2), (-1, 5), (-7, -4)],
                }
            })
        robot.step({'a': np.array([-0.5, 1, -1])})
        np.testing.assert_allclose(sim_scene.data.ctrl, [-1, 5, -7])


if __name__ == '__main__':
    absltest.main()
