import io
import json
import random
import tarfile
from contextlib import contextmanager
import tempfile
import pickle
import base64

try:
    import h5py
    import imageio
    import requests
    import zstandard as zstd
    from datasets import load_dataset
    from huggingface_hub import hf_hub_url, HfFolder
except ImportError:
    print(
        "Please setup your environment with e.g."
        " `pip install h5py 'imageio[ffmpeg]' requests zstandard datasets huggingface_hub`"
    )
    raise

TOKEN = HfFolder.get_token()
REPO = "allenai/molmobot-data"
TASK_CONFIGS = [
    "DoorOpeningDataGenConfig",
    "FrankaPickAndPlaceColorOmniCamConfig",
    "FrankaPickAndPlaceNextToOmniCamConfig",
    "FrankaPickAndPlaceOmniCamConfig",
    "FrankaPickOmniCamConfig",
    "RBY1OpenDataGenConfig",
    "RBY1PickAndPlaceDataGenConfig",
    "RBY1PickDataGenConfig",
    "FrankaPickAndPlaceOmniCamConfig_ObjectBackfill",
]
SPLIT = "train"


@contextmanager
def stream_pkg(
    entry: dict, config_name: str, buffer_size: int = 8192, repo_id: str = REPO
):
    """
    Streams a single compressed archive (tar.zst) from within a shard using
    an HTTP Range request. Each shard contains multiple archives packed
    contiguously; the entry's offset and size identify the byte range for
    one archive. This context manager exposes an open tarfile.
    """
    url = hf_hub_url(
        repo_id=repo_id,
        filename=f"{config_name}/{SPLIT}_shards/{entry['shard_id']:05d}.tar",
        repo_type="dataset",
        revision="main",
    )

    start = entry["offset"]
    end = start + entry["size"] - 1
    headers = {"Range": f"bytes={start}-{end}"}
    if TOKEN:
        headers["Authorization"] = f"Bearer {TOKEN}"

    with requests.get(url, headers=headers, stream=True) as response:
        response.raise_for_status()

        dctx = zstd.ZstdDecompressor()

        with dctx.stream_reader(response.raw) as reader:
            buffered = io.BufferedReader(reader, buffer_size=buffer_size)

            with tarfile.open(fileobj=buffered, mode="r|") as tar:
                yield tar


def collect_scene_data(entry: dict, config_name: str, keep_videos=True):
    """Collects scene identification info, and h5 and mp4 buffers from the archive."""

    def keep_scene_info(name):
        return f'part{entry["part"]}_{name.split("/")[0]}'

    def mp4_info(name):
        info = name.split("/")[1].split(".")[0]
        traj_cam_info, batch_info = info.split("_batch_")
        traj_cam_info = traj_cam_info.split("_")
        traj_idx = int(traj_cam_info[1])
        cam = "_".join(traj_cam_info[2:])
        return batch_info, traj_idx, cam

    def h5_info(name):
        info = name.split("/")[1].split(".")[0]
        batch_info = info.split("_batch_")[1]
        return batch_info

    scene_info = None
    batch_to_h5_and_ep_to_cams = {}
    with stream_pkg(entry, config_name) as tar:
        for member in tar:
            if member.name.endswith(".h5"):
                batch = h5_info(member.name)

                if scene_info is None:
                    scene_info = keep_scene_info(member.name)

                if batch not in batch_to_h5_and_ep_to_cams:
                    batch_to_h5_and_ep_to_cams[batch] = {}

                batch_to_h5_and_ep_to_cams[batch]["h5"] = tar.extractfile(member).read()

            elif member.name.endswith(".mp4") and keep_videos:
                batch, ep, cam = mp4_info(member.name)

                if batch not in batch_to_h5_and_ep_to_cams:
                    batch_to_h5_and_ep_to_cams[batch] = {}
                if ep not in batch_to_h5_and_ep_to_cams[batch]:
                    batch_to_h5_and_ep_to_cams[batch][ep] = {}

                batch_to_h5_and_ep_to_cams[batch][ep][cam] = tar.extractfile(
                    member
                ).read()

    return scene_info, batch_to_h5_and_ep_to_cams


def pop_frames(h5_and_ep_to_cams, eid):
    """Pops video buffers for an episode and decodes them into numpy frame arrays."""

    frames = {}
    for cam in list(h5_and_ep_to_cams[eid].keys()):
        vid_data = h5_and_ep_to_cams[eid].pop(cam)
        # imageio ffmpeg reader needs
        with tempfile.NamedTemporaryFile(suffix=".mp4") as tmp:
            tmp.write(vid_data)
            # ensure data is written to disk
            tmp.flush()
            tmp.seek(0)
            with imageio.get_reader(tmp.name, format="ffmpeg") as vid:
                frames[cam] = [frame for frame in vid]

    return frames


def decode_datum(datum):
    """Decodes a null-padded JSON bytes array into a Python object."""
    return json.loads(datum.tobytes().decode("utf-8").rstrip("\x00"))


class Config:
    """Generic placeholder for unpickling config classes."""

    def __init__(self, *args, **kwargs):
        self._args = args
        self._kwargs = kwargs

    def __setstate__(self, state):
        self.__dict__ = state["__dict__"]

    def __repr__(self):
        return f"{self.__dict__}"


class ConfigUnpickler(pickle.Unpickler):
    """Unpickler that resolves numpy/pathlib classes normally and stubs everything else."""

    def find_class(self, module, name):
        if module.startswith(("numpy", "pathlib")):
            import importlib

            loaded = importlib.import_module(module)
            return getattr(loaded, name)

        return Config


def safe_load_config(encoded_frozen_config):
    """
    Deserializes a base64-encoded pickled config, replacing unknown
    classes with a generic Config placeholder. Returns None on failure.
    """
    try:
        return ConfigUnpickler(
            io.BytesIO(base64.b64decode(encoded_frozen_config))
        ).load()
    except Exception as e:
        print(f"Warning: config pickle could not be fully loaded: {e}")
        return None


def iterate_data(entry: dict, config_name: str):
    """
    Yields per-step dicts (traj_info, step, action, camera frames)
    for all valid episodes in the given scene package.
    """
    scene_info, batch_to_h5_and_ep_to_cams = collect_scene_data(entry, config_name)

    for batch in list(batch_to_h5_and_ep_to_cams.keys()):
        h5_and_ep_to_cams = batch_to_h5_and_ep_to_cams.pop(batch)
        if "h5" not in h5_and_ep_to_cams:
            # Incomplete data, skip
            continue

        h5 = h5_and_ep_to_cams["h5"]

        with h5py.File(io.BytesIO(h5), "r") as f:
            if "valid_traj_mask" in f.keys():
                valid_traj_mask = f["valid_traj_mask"][()]
            else:
                traj_keys = {
                    int(key.split("traj_")[-1])
                    for key in f.keys()
                    if key.startswith("traj_")
                }
                valid_traj_mask = [
                    True if idx in traj_keys else False
                    for idx in range(max(traj_keys) + 1)
                ]

            for eid, val in enumerate(valid_traj_mask):
                if not val:
                    # Skip non-valid trajectories
                    continue

                traj = f[f"traj_{eid}"]

                obs_scene = json.loads(traj["obs_scene"][()].decode())
                obs_scene["config"] = safe_load_config(obs_scene.pop("frozen_config"))
                obs_scene["scene_id"] = scene_info
                obs_scene["traj_id"] = f"{batch}_ep{eid}"

                actions = [
                    decode_datum(action)
                    for action in traj["actions"]["commanded_action"][()]
                ]

                frames = pop_frames(h5_and_ep_to_cams, eid)

                for fid, action in enumerate(actions):
                    yield {
                        "traj_info": obs_scene,
                        "step": fid,
                        "action": action,
                        **{cam: frames[cam][fid] for cam in frames},
                    }


def main():
    grand_size = 0
    grand_inflated = 0
    grand_largest = 0
    grand_parts = 0

    for config in TASK_CONFIGS:
        ds = load_dataset(REPO, name=config, split=f"{SPLIT}_pkgs")

        current_size = sum(row["size"] for row in ds)
        current_inflated = sum(row["inflated_size"] for row in ds)
        current_largest = max(row["inflated_size"] for row in ds)
        current_parts = len(set(row["part"] for row in ds))

        print(f"Task config {config}:")
        print(f"  Compressed:       {current_size / 1024 ** 3:.2f} GiB")
        print(f"  Inflated:         {current_inflated / 1024 ** 3:.2f} GiB")
        print(f"  Largest archive:  {current_largest / 1024 ** 3:.2f} GiB")
        print(f"  Collection parts: {current_parts}")

        grand_size += current_size
        grand_inflated += current_inflated
        grand_largest = max(current_largest, grand_largest)
        grand_parts += current_parts

        parts = [[] for _ in range(current_parts)]
        for entry in ds:
            parts[entry["part"]].append(entry)
        for part in parts:
            random_scene_pkg = random.choice(part)
            for it, item in enumerate(iterate_data(random_scene_pkg, config)):
                if it == 1:
                    info = item.pop("traj_info")
                    scene_id = info["scene_id"]
                    traj_id = info["traj_id"]
                    task_type = info["task_type"]
                    task_description = info["task_description"]
                    robot_name = info["config"].robot_config.name
                    step = item.pop("step")
                    action_keys = sorted(item.pop("action").keys())
                    cam_shapes = {cam: frame.shape for cam, frame in item.items()}
                    print(
                        f"{step=} {traj_id=} {scene_id=}"
                        f"\n  {task_type=}"
                        f"\n  {task_description=}"
                        f"\n  {robot_name=}"
                        f"\n  {action_keys=}"
                        f"\n  {cam_shapes=}"
                    )
                    break

    print(f"TOTAL across {len(TASK_CONFIGS)} task configs:")
    print(f"  Compressed:       {grand_size / 1024 ** 4:.2f} TiB")
    print(f"  Inflated:         {grand_inflated / 1024 ** 4:.2f} TiB")
    print(f"  Largest archive:  {grand_largest / 1024 ** 3:.2f} GiB")
    print(f"  Collection parts: {grand_parts}")


if __name__ == "__main__":
    main()
    print("DONE")