# --------------------------------------------------------
# LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning
# https://arxiv.org/abs/2309.06440
# Copyright (c) 2023 Ananye Agarwal
# Licensed under The MIT License [see LICENSE for details]
# --------------------------------------------------------
# Based on: IsaacGymEnvs
# Copyright (c) 2018-2022, NVIDIA Corporation
# Licence under BSD 3-Clause License
# https://github.com/NVIDIA-Omniverse/IsaacGymEnvs/
# --------------------------------------------------------

import numpy as np
import torch
import random
import os
import git

def get_current_commit_hash():
    repo = git.Repo(search_parent_directories=True)
    sha = repo.head.object.hexsha

    try:
        branch = repo.active_branch.name
    except TypeError as e:
        branch = "detached"

    return "{}@{}".format(branch, sha)

def set_np_formatting():
    """ formats numpy print """
    np.set_printoptions(edgeitems=30, infstr='inf',
                        linewidth=4000, nanstr='nan', precision=2,
                        suppress=False, threshold=10000, formatter=None)


def set_seed(seed, torch_deterministic=False, rank=0):
    """ set seed across modules """
    if seed == -1 and torch_deterministic:
        seed = 42 + rank
    elif seed == -1:
        seed = np.random.randint(0, 10000)
    else:
        seed = seed + rank

    print("Setting seed: {}".format(seed))

    random.seed(seed)
    np.random.seed(seed)
    torch.manual_seed(seed)
    os.environ['PYTHONHASHSEED'] = str(seed)
    torch.cuda.manual_seed(seed)
    torch.cuda.manual_seed_all(seed)

    if torch_deterministic:
        # refer to https://docs.nvidia.com/cuda/cublas/index.html#cublasApi_reproducibility
        os.environ['CUBLAS_WORKSPACE_CONFIG'] = ':4096:8'
        torch.backends.cudnn.benchmark = False
        torch.backends.cudnn.deterministic = True
        torch.use_deterministic_algorithms(True)
    else:
        torch.backends.cudnn.benchmark = True
        torch.backends.cudnn.deterministic = False

    return seed

# EOF