#include "cost_saturation.h"

#include "abstract_state.h"
#include "abstraction.h"
#include "cartesian_heuristic_function.h"
#include "cegar.h"
#include "refinement_hierarchy.h"
#include "subtask_generators.h"
#include "transition_system.h"
#include "utils.h"

#include "../task_utils/task_properties.h"
#include "../tasks/modified_operator_costs_task.h"
#include "../utils/countdown_timer.h"
#include "../utils/logging.h"
#include "../utils/memory.h"

#include <algorithm>
#include <cassert>

using namespace std;

namespace cegar {
/*
  We reserve some memory to be able to recover from out-of-memory
  situations gracefully. When the memory runs out, we stop refining and
  start the next refinement or the search. Due to memory fragmentation
  the memory used for building the abstraction (states, transitions,
  etc.) often can't be reused for things that require big continuous
  blocks of memory. It is for this reason that we require such a large
  amount of memory padding.
*/
static const int memory_padding_in_mb = 75;

static vector<int> compute_saturated_costs(
    const TransitionSystem &transition_system,
    const vector<int> &g_values,
    const vector<int> &h_values,
    bool use_general_costs) {
    const int min_cost = use_general_costs ? -INF : 0;
    vector<int> saturated_costs(transition_system.get_num_operators(), min_cost);
    assert(g_values.size() == h_values.size());
    int num_states = h_values.size();
    for (int state_id = 0; state_id < num_states; ++state_id) {
        int g = g_values[state_id];
        int h = h_values[state_id];

        /*
          No need to maintain goal distances of unreachable (g == INF)
          and dead end states (h == INF).

          Note that the "succ_h == INF" test below is sufficient for
          ignoring dead end states. The "h == INF" test is a speed
          optimization.
        */
        if (g == INF || h == INF)
            continue;

        for (const Transition &transition:
             transition_system.get_outgoing_transitions()[state_id]) {
            int op_id = transition.op_id;
            int succ_id = transition.target_id;
            int succ_h = h_values[succ_id];

            if (succ_h == INF)
                continue;

            int needed = h - succ_h;
            saturated_costs[op_id] = max(saturated_costs[op_id], needed);
        }

        if (use_general_costs) {
            /* To prevent negative cost cycles, all operators inducing
               self-loops must have non-negative costs. */
            for (int op_id : transition_system.get_loops()[state_id]) {
                saturated_costs[op_id] = max(saturated_costs[op_id], 0);
            }
        }
    }
    return saturated_costs;
}


CostSaturation::CostSaturation(
    const vector<shared_ptr<SubtaskGenerator>> &subtask_generators,
    int max_states,
    int max_non_looping_transitions,
    double max_time,
    bool use_general_costs,
    PickSplit pick_split,
    utils::RandomNumberGenerator &rng,
    bool debug)
    : subtask_generators(subtask_generators),
      max_states(max_states),
      max_non_looping_transitions(max_non_looping_transitions),
      max_time(max_time),
      use_general_costs(use_general_costs),
      pick_split(pick_split),
      rng(rng),
      debug(debug),
      num_abstractions(0),
      num_states(0),
      num_non_looping_transitions(0) {
}

vector<CartesianHeuristicFunction> CostSaturation::generate_heuristic_functions(
    const shared_ptr<AbstractTask> &task) {
    // For simplicity this is a member object. Make sure it is in a valid state.
    assert(heuristic_functions.empty());

    utils::CountdownTimer timer(max_time);

    TaskProxy task_proxy(*task);

    task_properties::verify_no_axioms(task_proxy);
    task_properties::verify_no_conditional_effects(task_proxy);

    reset(task_proxy);

    State initial_state = TaskProxy(*task).get_initial_state();

    function<bool()> should_abort =
        [&] () {
            return num_states >= max_states ||
                   num_non_looping_transitions >= max_non_looping_transitions ||
                   timer.is_expired() ||
                   !utils::extra_memory_padding_is_reserved() ||
                   state_is_dead_end(initial_state);
        };

    utils::reserve_extra_memory_padding(memory_padding_in_mb);
    for (const shared_ptr<SubtaskGenerator> &subtask_generator : subtask_generators) {
        SharedTasks subtasks = subtask_generator->get_subtasks(task);
        build_abstractions(subtasks, timer, should_abort);
        if (should_abort())
            break;
    }
    if (utils::extra_memory_padding_is_reserved())
        utils::release_extra_memory_padding();
    print_statistics(timer.get_elapsed_time());

    vector<CartesianHeuristicFunction> functions;
    swap(heuristic_functions, functions);

    return functions;
}

void CostSaturation::reset(const TaskProxy &task_proxy) {
    remaining_costs = task_properties::get_operator_costs(task_proxy);
    num_abstractions = 0;
    num_states = 0;
}

void CostSaturation::reduce_remaining_costs(
    const vector<int> &saturated_costs) {
    assert(remaining_costs.size() == saturated_costs.size());
    for (size_t i = 0; i < remaining_costs.size(); ++i) {
        int &remaining = remaining_costs[i];
        const int &saturated = saturated_costs[i];
        assert(saturated <= remaining);
        /* Since we ignore transitions from states s with h(s)=INF, all
           saturated costs (h(s)-h(s')) are finite or -INF. */
        assert(saturated != INF);
        if (remaining == INF) {
            // INF - x = INF for finite values x.
        } else if (saturated == -INF) {
            remaining = INF;
        } else {
            remaining -= saturated;
        }
        assert(remaining >= 0);
    }
}

shared_ptr<AbstractTask> CostSaturation::get_remaining_costs_task(
    shared_ptr<AbstractTask> &parent) const {
    vector<int> costs = remaining_costs;
    return make_shared<extra_tasks::ModifiedOperatorCostsTask>(
        parent, move(costs));
}

bool CostSaturation::state_is_dead_end(const State &state) const {
    for (const CartesianHeuristicFunction &function : heuristic_functions) {
        if (function.get_value(state) == INF)
            return true;
    }
    return false;
}

void CostSaturation::build_abstractions(
    const vector<shared_ptr<AbstractTask>> &subtasks,
    const utils::CountdownTimer &timer,
    function<bool()> should_abort) {
    int rem_subtasks = subtasks.size();
    for (shared_ptr<AbstractTask> subtask : subtasks) {
        subtask = get_remaining_costs_task(subtask);

        assert(num_states < max_states);
        CEGAR cegar(
            subtask,
            max(1, (max_states - num_states) / rem_subtasks),
            max(1, (max_non_looping_transitions - num_non_looping_transitions) /
                rem_subtasks),
            timer.get_remaining_time() / rem_subtasks,
            pick_split,
            rng,
            debug);

        unique_ptr<Abstraction> abstraction = cegar.extract_abstraction();
        ++num_abstractions;
        num_states += abstraction->get_num_states();
        num_non_looping_transitions += abstraction->get_transition_system().get_num_non_loops();
        assert(num_states <= max_states);

        vector<int> costs = task_properties::get_operator_costs(TaskProxy(*subtask));
        vector<int> init_distances = compute_distances(
            abstraction->get_transition_system().get_outgoing_transitions(),
            costs,
            {abstraction->get_initial_state()->get_id()});
        vector<int> goal_distances = compute_distances(
            abstraction->get_transition_system().get_incoming_transitions(),
            costs,
            abstraction->get_goals());
        vector<int> saturated_costs = compute_saturated_costs(
            abstraction->get_transition_system(),
            init_distances,
            goal_distances,
            use_general_costs);

        heuristic_functions.emplace_back(
            abstraction->extract_refinement_hierarchy(),
            move(goal_distances));

        reduce_remaining_costs(saturated_costs);

        if (should_abort())
            break;

        --rem_subtasks;
    }
}

void CostSaturation::print_statistics(utils::Duration init_time) const {
    utils::g_log << "Done initializing additive Cartesian heuristic" << endl;
    cout << "Time for initializing additive Cartesian heuristic: "
         << init_time << endl;
    cout << "Cartesian abstractions built: " << num_abstractions << endl;
    cout << "Cartesian states: " << num_states << endl;
    cout << "Total number of non-looping transitions: "
         << num_non_looping_transitions << endl;
    cout << endl;
}
}
