extends Node
class_name AIController

# ------------------ Godot RL Agents Logic ------------------------------------#
@export var reset_after := 1000

var heuristic := "human"
var done := false
var reward := 0.0
var n_steps := 0

var needs_reset := false

func _ready():
	add_to_group("AGENT")
	
#-- Methods that need implementing using the "extend script" option in Godot --#
func get_obs() -> Dictionary:
	assert(false, "the get_obs method is not implemented when extending from ai_controller") 
	return {"obs":[]}

func get_reward() -> float:	
	assert(false, "the get_reward method is not implemented when extending from ai_controller") 
	return 0.0
	
func get_action_space() -> Dictionary:
	assert(false, "the get get_action_space method is not implemented when extending from ai_controller") 
	return {
		"example_actions_continous" : {
			"size": 2,
			"action_type": "continuous"
		},
		"example_actions_discrete" : {
			"size": 2,
			"action_type": "discrete"
		},
		}
	
func set_action(action) -> void:	
	assert(false, "the get set_action method is not implemented when extending from ai_controller") 	
# -----------------------------------------------------------------------------#
	
func _physics_process(delta):
	n_steps += 1
	if n_steps > reset_after:
		needs_reset = true
		
func get_obs_space():
	# may need overriding if the obs space is complex
	var obs = get_obs()
	return {
		"obs": {
			"size": [len(obs["obs"])],
			"space": "box"
		},
	}

func reset():
	n_steps = 0
	needs_reset = false

func reset_if_done():
	if done:
		reset()
		
func set_heuristic(h):
	# sets the heuristic from "human" or "model" nothing to change here
	heuristic = h

func get_done():
	return done
	
func set_done_false():
	done = false

func zero_reward():
	reward = 0.0