script/train_vae_pl.py

"""Train TactileVAE with PyTorch Lightning.

Run:
    python tactile_vae/script/train_vae_pl.py --config tactile_vae/config/train_vae.yaml

Same YAML config format as train_vae.py.

Checkpoints written to <output_dir>/:
  ckpt_best.pt / ckpt_last.pt / ckpt_step_*.pt  — original format (TactileVAEWrapper compat)
  checkpoints/last.ckpt                          — Lightning format (full resume with trainer state)
"""
from __future__ import annotations

import argparse
import datetime as dt
import math
import os
import random
import sys
from pathlib import Path
from typing import Any

import numpy as np
import pytorch_lightning as pl
import torch
import yaml
from PIL import Image
from pytorch_lightning.callbacks import ModelCheckpoint
from pytorch_lightning.loggers import CSVLogger
import torch.nn as nn
import torch.nn.functional as F
from torch.optim.lr_scheduler import LambdaLR
from torch.utils.data import DataLoader

_REPO_ROOT = Path(__file__).resolve().parents[2]
if str(_REPO_ROOT) not in sys.path:
    sys.path.insert(0, str(_REPO_ROOT))

from tactile_vae.dataset import ColorJitterConfig, ParquetFileShuffleSampler, TactileParquetDataset
from tactile_vae.model import TactileVAE, VAELoss


# ---------------------------------------------------------------------------
# Utilities (same as train_vae.py)
# ---------------------------------------------------------------------------

def _resolve_path(p: str | None) -> Path | None:
    if p is None:
        return None
    path = Path(p)
    return path if path.is_absolute() else (_REPO_ROOT / path).resolve()


def _autogenerate_run_id() -> str:
    return "run_" + dt.datetime.now().strftime("%Y-%m-%d_%H-%M-%S")


def load_config(path: Path) -> dict:
    with path.open() as f:
        cfg = yaml.safe_load(f)
    if not cfg.get("run_id"):
        cfg["run_id"] = _autogenerate_run_id()
    if cfg.get("output_dir"):
        cfg["output_dir"] = str(_resolve_path(cfg["output_dir"]))
    else:
        runs_root = _resolve_path(cfg.get("runs_root", "runs"))
        cfg["output_dir"] = str(runs_root / cfg["run_id"])
    cfg["data"]["root"] = str(_resolve_path(cfg["data"]["root"]))
    if cfg["data"].get("splits_path"):
        cfg["data"]["splits_path"] = str(_resolve_path(cfg["data"]["splits_path"]))
    if cfg["train"].get("resume_from"):
        cfg["train"]["resume_from"] = str(_resolve_path(cfg["train"]["resume_from"]))
    return cfg


def _maybe_autoresume(cfg: dict, *, allow_autoresume: bool) -> None:
    if cfg["train"].get("resume_from") or not allow_autoresume:
        return
    # Prefer Lightning checkpoint for full state restore (step count, optimizer, etc.)
    last_ckpt = Path(cfg["output_dir"]) / "checkpoints" / "last.ckpt"
    if last_ckpt.exists():
        cfg["train"]["resume_from"] = str(last_ckpt)
        return
    last_pt = Path(cfg["output_dir"]) / "ckpt_last.pt"
    if last_pt.exists():
        cfg["train"]["resume_from"] = str(last_pt)


def set_seed(seed: int) -> None:
    random.seed(seed)
    np.random.seed(seed)
    torch.manual_seed(seed)
    if torch.cuda.is_available():
        torch.cuda.manual_seed_all(seed)


def build_datasets(data_cfg: dict) -> tuple[TactileParquetDataset, TactileParquetDataset]:
    common = dict(
        root=data_cfg["root"],
        image_size=data_cfg["image_size"],
        cache_files=data_cfg.get("cache_files", 1),
        splits_path=data_cfg.get("splits_path"),
        return_meta=data_cfg.get("return_meta", False),
    )
    if data_cfg.get("meta_columns"):
        common["meta_columns"] = data_cfg["meta_columns"]
    jitter_cfg = data_cfg.get("color_jitter")
    color_jitter = ColorJitterConfig(**jitter_cfg) if jitter_cfg else None
    train_ds = TactileParquetDataset(split="train", color_jitter=color_jitter, **common)
    val_ds = TactileParquetDataset(split="val", color_jitter=None, **common)
    return train_ds, val_ds


def lr_at_step(step: int, base_lr: float, total_steps: int, sched_cfg: dict) -> float:
    warmup = int(sched_cfg.get("warmup_steps", 0))
    sched = sched_cfg.get("type", "constant")
    if step < warmup:
        return base_lr * (step + 1) / max(1, warmup)
    if sched == "constant":
        return base_lr
    if sched == "cosine":
        min_ratio = float(sched_cfg.get("min_lr_ratio", 0.1))
        progress = (step - warmup) / max(1, total_steps - warmup)
        progress = min(max(progress, 0.0), 1.0)
        return base_lr * (min_ratio + (1 - min_ratio) * 0.5 * (1.0 + math.cos(math.pi * progress)))
    raise ValueError(f"unknown scheduler type: {sched!r}")


# ---------------------------------------------------------------------------
# LightningModule
# ---------------------------------------------------------------------------


class ConfigurablePerceptualVAELoss(nn.Module):
    """VAE loss with configurable perceptual term: SSIM or LPIPS."""

    def __init__(self, loss_cfg: dict):
        super().__init__()
        self.perceptual_type = str(loss_cfg.get("perceptual_type", "ssim")).lower()
        if self.perceptual_type not in {"ssim", "lpips"}:
            raise ValueError(
                f"loss.perceptual_type must be one of [ssim, lpips], got: {self.perceptual_type!r}"
            )
        self.aux_key = self.perceptual_type
        self.ssim_impl: VAELoss | None = None
        self.lpips_impl: nn.Module | None = None

        if self.perceptual_type == "ssim":
            self.ssim_impl = VAELoss(**loss_cfg)
        else:
            self.beta = float(loss_cfg.get("beta", 1e-3))
            self.recon_type = str(loss_cfg.get("recon_type", "l1")).lower()
            self.lpips_weight = float(loss_cfg.get("lpips_weight", loss_cfg.get("ssim_weight", 0.1)))
            try:
                import lpips  # type: ignore
            except ImportError as exc:  # pragma: no cover - depends on runtime env
                raise ImportError(
                    "LPIPS loss requested but `lpips` is not installed. "
                    "Install with: pip install lpips"
                ) from exc
            self.lpips_impl = lpips.LPIPS(net="alex")
            self.lpips_impl.eval()
            for p in self.lpips_impl.parameters():
                p.requires_grad = False

    def forward(self, x_hat: torch.Tensor, x: torch.Tensor, mu: torch.Tensor, logvar: torch.Tensor) -> dict[str, torch.Tensor]:
        if self.perceptual_type == "ssim":
            assert self.ssim_impl is not None
            return self.ssim_impl(x_hat, x, mu, logvar)

        if self.recon_type == "l1":
            recon = F.l1_loss(x_hat, x)
        elif self.recon_type == "mse":
            recon = F.mse_loss(x_hat, x)
        else:
            raise ValueError(f"loss.recon_type must be one of [l1, mse], got: {self.recon_type!r}")

        # LPIPS expects inputs in [-1, 1], and is more stable in fp32.
        with torch.amp.autocast(device_type=x_hat.device.type, enabled=False):
            x_hat_lp = (2.0 * x_hat.float()) - 1.0
            x_lp = (2.0 * x.float()) - 1.0
            assert self.lpips_impl is not None
            lpips_val = self.lpips_impl(x_hat_lp, x_lp).mean()
        recon_total = recon + self.lpips_weight * lpips_val
        kl = (-0.5 * (1 + logvar - mu.pow(2) - logvar.exp())).mean()
        total = recon_total + self.beta * kl
        return {
            "total": total,
            "recon": recon,
            "recon_total": recon_total,
            "lpips": lpips_val,
            "kl": kl,
        }


class TactileVAEModule(pl.LightningModule):
    def __init__(self, config: dict, *, step_offset: int = 0, total_steps: int = 0):
        super().__init__()
        self.config = config
        self.step_offset = int(step_offset)
        self.total_steps = int(total_steps)
        self.model = TactileVAE(**config["model"])
        self.criterion = ConfigurablePerceptualVAELoss(config["loss"])

    def forward(self, x, **kw):
        return self.model(x, **kw)

    def training_step(self, batch, batch_idx):
        x = batch
        out = self.model(x)
        losses = self.criterion(out["x_hat"], x, out["mu"], out["logvar"])
        if not torch.isfinite(losses["total"]).item():
            print(
                f"[warn] non-finite loss at step={self.trainer.global_step + self.step_offset + 1}, "
                f"epoch={self.trainer.current_epoch}; skipping optimizer step"
            )
            return None
        self.log("train/total", losses["total"], prog_bar=True, on_step=True, on_epoch=False, batch_size=x.shape[0])
        self.log_dict(
            {f"train/{k}": v for k, v in losses.items() if k != "total"},
            on_step=True, on_epoch=False, batch_size=x.shape[0],
        )
        return losses["total"]

    @torch.no_grad()
    def validation_step(self, batch, batch_idx):
        x = batch
        out = self.model(x, sample=False)
        losses = self.criterion(out["x_hat"], x, out["mu"], out["logvar"])
        self.log_dict(
            {f"val/{k}": v for k, v in losses.items()},
            on_step=False, on_epoch=True, batch_size=x.shape[0],
        )

    def configure_optimizers(self):
        optim_cfg = self.config["optim"]
        optimizer = torch.optim.AdamW(
            self.model.parameters(),
            lr=optim_cfg["lr"],
            weight_decay=optim_cfg.get("weight_decay", 0.0),
            betas=tuple(optim_cfg.get("betas", (0.9, 0.95))),
            eps=optim_cfg.get("eps", 1e-8),
        )
        base_lr = float(optim_cfg["lr"])
        sched_cfg = self.config["scheduler"]
        scheduler = LambdaLR(
            optimizer,
            lr_lambda=lambda step: lr_at_step(
                step + self.step_offset, base_lr, self.total_steps, sched_cfg
            ) / base_lr,
        )
        return {
            "optimizer": optimizer,
            "lr_scheduler": {"scheduler": scheduler, "interval": "step", "frequency": 1},
        }


# ---------------------------------------------------------------------------
# LightningDataModule
# ---------------------------------------------------------------------------

class TactileVAEDataModule(pl.LightningDataModule):
    def __init__(self, config: dict):
        super().__init__()
        self.config = config
        self.train_ds: TactileParquetDataset | None = None
        self.val_ds: TactileParquetDataset | None = None
        self.train_sampler: ParquetFileShuffleSampler | None = None

    def setup(self, stage: str | None = None):
        if self.train_ds is not None:
            return
        self.train_ds, self.val_ds = build_datasets(self.config["data"])
        self.train_sampler = ParquetFileShuffleSampler(self.train_ds, seed=self.config["seed"])

    def train_dataloader(self):
        tcfg = self.config["train"]
        return DataLoader(
            self.train_ds,
            batch_size=tcfg["batch_size"],
            sampler=self.train_sampler,
            num_workers=tcfg["num_workers"],
            pin_memory=True,
            drop_last=True,
            persistent_workers=tcfg["num_workers"] > 0,
            prefetch_factor=2 if tcfg["num_workers"] > 0 else None,
        )

    def val_dataloader(self):
        tcfg = self.config["train"]
        return DataLoader(
            self.val_ds,
            batch_size=tcfg["batch_size"],
            shuffle=False,
            num_workers=max(2, tcfg["num_workers"] // 2),
            pin_memory=True,
            drop_last=False,
        )


# ---------------------------------------------------------------------------
# Callbacks
# ---------------------------------------------------------------------------

class SetEpochCallback(pl.Callback):
    """Keeps ParquetFileShuffleSampler epoch-aware for proper per-epoch shuffling."""

    def __init__(self, *, epoch_offset: int = 0):
        self.epoch_offset = int(epoch_offset)

    def on_train_epoch_start(self, trainer: pl.Trainer, pl_module: pl.LightningModule) -> None:
        dm = trainer.datamodule
        if hasattr(dm, "train_sampler") and hasattr(dm.train_sampler, "set_epoch"):
            dm.train_sampler.set_epoch(trainer.current_epoch + self.epoch_offset)


class SampleGridCallback(pl.Callback):
    """Saves a top=original / bottom=reconstruction image grid every N steps."""

    def __init__(self, config: dict, *, step_offset: int = 0):
        self.sample_every = config["train"]["sample_every_steps"]
        self.n = config["train"]["num_sample_images"]
        self.out_dir = Path(config["output_dir"]) / "samples"
        self.rng = np.random.default_rng(config["seed"] + 1)
        self.step_offset = int(step_offset)

    def on_train_batch_end(self, trainer, pl_module, outputs, batch, batch_idx):
        effective_step = trainer.global_step + self.step_offset
        if effective_step > 0 and effective_step % self.sample_every == 0:
            self._save_grid(trainer, pl_module, effective_step)

    @torch.no_grad()
    def _save_grid(self, trainer, pl_module, step):
        val_ds = trainer.datamodule.val_ds
        device = pl_module.device
        self.out_dir.mkdir(parents=True, exist_ok=True)
        idx = self.rng.choice(len(val_ds), size=self.n, replace=False).tolist()
        imgs = torch.stack([val_ds[i] for i in idx]).to(device)
        pl_module.eval()
        recon = pl_module.model(imgs, sample=False)["x_hat"]
        pl_module.train()
        h = w = val_ds.image_size
        canvas = np.zeros((2 * h, self.n * w, 3), dtype=np.uint8)
        for i in range(self.n):
            orig = (imgs[i].cpu().clamp(0, 1).permute(1, 2, 0).numpy() * 255).astype(np.uint8)
            rec = (recon[i].cpu().clamp(0, 1).permute(1, 2, 0).numpy() * 255).astype(np.uint8)
            canvas[:h, i * w:(i + 1) * w] = orig
            canvas[h:, i * w:(i + 1) * w] = rec
        Image.fromarray(canvas).save(self.out_dir / f"step_{step:07d}.png")


class CompatCheckpointCallback(pl.Callback):
    """Saves ckpt_last.pt / ckpt_step_*.pt / ckpt_best.pt in the original format
    so that TactileVAEWrapper.load_pretrained keeps working unchanged."""

    def __init__(
        self,
        config: dict,
        *,
        step_offset: int = 0,
        epoch_offset: int = 0,
        initial_best_val_metric: float = float("inf"),
    ):
        self.config = config
        self.out_dir = Path(config["output_dir"])
        self.ckpt_every = config["train"]["ckpt_every_steps"]
        self.keep_last = config["train"]["keep_last_ckpts"]
        self.best_metric = config["train"].get("best_metric", "val/total")
        self.best_val_metric = float(initial_best_val_metric)
        self.step_offset = int(step_offset)
        self.epoch_offset = int(epoch_offset)

    def _build_payload(self, trainer: pl.Trainer, pl_module: pl.LightningModule) -> dict:
        # LightningModule.state_dict() prefixes all keys with "model." — strip it.
        sd = {k[len("model."):]: v for k, v in pl_module.state_dict().items() if k.startswith("model.")}
        return {
            "state_dict": sd,
            "optimizer": trainer.optimizers[0].state_dict(),
            "step": trainer.global_step + self.step_offset,
            "epoch": trainer.current_epoch + self.epoch_offset,
            "config": self.config,
            "best_val_metric": self.best_val_metric,
            "best_metric_name": self.best_metric,
            "best_val_recon": self.best_val_metric,  # backward compat key
        }

    def _save(self, path: Path, trainer, pl_module) -> None:
        path.parent.mkdir(parents=True, exist_ok=True)
        tmp = path.with_suffix(path.suffix + ".tmp")
        torch.save(self._build_payload(trainer, pl_module), tmp)
        os.replace(tmp, path)

    def _rotate(self) -> None:
        ckpts = sorted(self.out_dir.glob("ckpt_step_*.pt"))
        while len(ckpts) > self.keep_last:
            ckpts.pop(0).unlink(missing_ok=True)

    def on_train_batch_end(self, trainer, pl_module, outputs, batch, batch_idx):
        effective_step = trainer.global_step + self.step_offset
        if effective_step > 0 and effective_step % self.ckpt_every == 0:
            self._save(self.out_dir / f"ckpt_step_{effective_step:07d}.pt", trainer, pl_module)
            self._save(self.out_dir / "ckpt_last.pt", trainer, pl_module)
            self._rotate()
            print(f"  saved ckpt_step_{effective_step:07d}.pt")

    def on_validation_epoch_end(self, trainer, pl_module):
        val = float(trainer.callback_metrics.get(self.best_metric, float("inf")))
        if val < self.best_val_metric:
            self.best_val_metric = val
            self._save(self.out_dir / "ckpt_best.pt", trainer, pl_module)
            print(f"  -> new best {self.best_metric}={val:.4f}, saved ckpt_best.pt")

    def on_train_end(self, trainer, pl_module):
        self._save(self.out_dir / "ckpt_last.pt", trainer, pl_module)


class CompatResumeStateCallback(pl.Callback):
    """Loads optimizer state from compat .pt resume checkpoints."""

    def __init__(self, optim_state: dict[str, Any] | None):
        self.optim_state = optim_state

    def on_fit_start(self, trainer, pl_module):
        if self.optim_state is None:
            return
        if not trainer.optimizers:
            return
        trainer.optimizers[0].load_state_dict(self.optim_state)
        print("loaded optimizer state from compat checkpoint")


# ---------------------------------------------------------------------------
# Entry point
# ---------------------------------------------------------------------------

def parse_args() -> argparse.Namespace:
    p = argparse.ArgumentParser()
    p.add_argument("--config", type=Path,
                   default=Path(__file__).resolve().parents[1] / "config" / "train_vae.yaml")
    p.add_argument("--run-id", type=str, default=None,
                   help="override run_id (output_dir = runs_root/<run-id>)")
    p.add_argument("--output-dir", type=str, default=None,
                   help="override output_dir directly")
    p.add_argument("--resume-from", type=str, default=None,
                   help="path to .ckpt (Lightning) or .pt (compat) checkpoint")
    p.add_argument("--no-resume", action="store_true",
                   help="start fresh even if ckpt_last.pt / last.ckpt exists")
    return p.parse_args()


def _init_loggers(cfg: dict, out_dir: Path) -> list[Any]:
    loggers: list[Any] = [CSVLogger(str(out_dir), name="", version="")]
    if os.environ.get("WANDB_PROJECT"):
        try:
            from pytorch_lightning.loggers import WandbLogger
            loggers.append(WandbLogger(
                project=os.environ["WANDB_PROJECT"],
                entity=os.environ.get("WANDB_ENTITY"),
                id=os.environ.get("WANDB_RUN_ID") or cfg["run_id"],
                name=os.environ.get("WANDB_NAME") or cfg["run_id"],
                save_dir=str(out_dir),
                config=cfg,
            ))
        except ImportError:
            print("wandb not available — logging disabled")
    return loggers


def _build_trainer(
    cfg: dict,
    *,
    callbacks: list[pl.Callback],
    loggers: list[Any],
    precision: str,
    resume_from: str | None,
    resume_step_offset: int,
    total_steps: int,
) -> pl.Trainer:
    tcfg = cfg["train"]
    trainer_kwargs: dict[str, Any] = {
        "accelerator": "auto",
        "devices": 1,
        "precision": precision,
        "callbacks": callbacks,
        "logger": loggers,
        "limit_val_batches": tcfg["num_val_batches"],
        "val_check_interval": tcfg["val_every_steps"],
        "check_val_every_n_epoch": None,  # step-based only; disable epoch-end validation
        "log_every_n_steps": tcfg["log_every"],
        "gradient_clip_val": tcfg.get("gradient_clip_norm") or None,
        "num_sanity_val_steps": 0,
        "default_root_dir": str(cfg["output_dir"]),
    }
    if resume_from and Path(resume_from).suffix != ".ckpt":
        remaining_steps = max(0, total_steps - resume_step_offset)
        trainer_kwargs["max_steps"] = remaining_steps
        print(f"compat resume remaining_steps={remaining_steps}")
    elif tcfg.get("max_steps"):
        trainer_kwargs["max_steps"] = tcfg["max_steps"]
    else:
        trainer_kwargs["max_epochs"] = tcfg["epochs"]
    return pl.Trainer(**trainer_kwargs)


def main(cfg: dict) -> None:
    set_seed(cfg["seed"])
    out_dir = Path(cfg["output_dir"])
    out_dir.mkdir(parents=True, exist_ok=True)

    # Resume bookkeeping for compat .pt checkpoints.
    resume_step_offset = 0
    resume_epoch_offset = 0
    resume_optimizer_state: dict[str, Any] | None = None
    resume_best_val_metric = float("inf")
    resume_from = cfg["train"].get("resume_from")
    if resume_from and Path(resume_from).suffix != ".ckpt":
        compat = torch.load(str(resume_from), map_location="cpu", weights_only=False)
        resume_step_offset = int(compat.get("step", 0))
        resume_epoch_offset = int(compat.get("epoch", 0))
        resume_optimizer_state = compat.get("optimizer")
        resume_best_val_metric = float(
            compat.get("best_val_metric", compat.get("best_val_recon", float("inf")))
        )

    snap = out_dir / "config.snapshot.yaml"
    if not snap.exists():
        with snap.open("w") as f:
            yaml.safe_dump(cfg, f, sort_keys=False)

    # Build data module early so SampleGridCallback can reference val_ds via trainer.datamodule
    datamodule = TactileVAEDataModule(cfg)
    datamodule.setup()
    print(f"datasets: train={len(datamodule.train_ds):,}  val={len(datamodule.val_ds):,}")

    tcfg = cfg["train"]
    steps_per_epoch = len(datamodule.train_dataloader())
    total_steps = tcfg["max_steps"] if tcfg.get("max_steps") else steps_per_epoch * tcfg["epochs"]
    print(f"steps/epoch={steps_per_epoch:,}  total_steps={total_steps:,}")
    module = TactileVAEModule(cfg, step_offset=resume_step_offset, total_steps=total_steps)
    n_params = sum(p.numel() for p in module.model.parameters())
    print(f"model: {module.model.__class__.__name__}  params={n_params:,}")

    # Precision
    use_amp = bool(tcfg.get("amp", False))
    if use_amp:
        amp_dtype = str(tcfg.get("amp_dtype", "bf16")).lower()
        if amp_dtype not in {"bf16", "bfloat16"}:
            print(f"[info] overriding train.amp_dtype={amp_dtype!r} to 'bf16' (enforced)")
        precision = "bf16-mixed"
    else:
        precision = "32"

    loggers = _init_loggers(cfg, out_dir)

    callbacks = [
        SetEpochCallback(epoch_offset=resume_epoch_offset),
        SampleGridCallback(cfg, step_offset=resume_step_offset),
        CompatCheckpointCallback(
            cfg,
            step_offset=resume_step_offset,
            epoch_offset=resume_epoch_offset,
            initial_best_val_metric=resume_best_val_metric,
        ),
        CompatResumeStateCallback(resume_optimizer_state),
        ModelCheckpoint(
            dirpath=str(out_dir / "checkpoints"),
            filename="last",
            save_last=True,
            save_top_k=0,
            every_n_train_steps=tcfg["ckpt_every_steps"],
        ),
    ]

    trainer = _build_trainer(
        cfg,
        callbacks=callbacks,
        loggers=loggers,
        precision=precision,
        resume_from=resume_from,
        resume_step_offset=resume_step_offset,
        total_steps=total_steps,
    )

    # Resume: .ckpt = full Lightning resume; .pt = model+optimizer+offsets compat resume.
    ckpt_path: str | None = None
    if resume_from:
        rf = Path(resume_from)
        if rf.suffix == ".ckpt":
            ckpt_path = str(rf)
            print(f"resuming (Lightning): {rf}")
        else:
            ckpt = torch.load(str(rf), map_location="cpu", weights_only=False)
            module.model.load_state_dict(ckpt["state_dict"])
            print(
                f"resuming (compat): {rf}  "
                f"step={resume_step_offset} epoch={resume_epoch_offset}"
            )

    trainer.fit(module, datamodule=datamodule, ckpt_path=ckpt_path)
    print(f"done. global_step={trainer.global_step}")


if __name__ == "__main__":
    args = parse_args()
    with args.config.open() as f:
        raw_cfg = yaml.safe_load(f)
    if args.run_id:
        raw_cfg["run_id"] = args.run_id
    if args.output_dir:
        raw_cfg["output_dir"] = args.output_dir

    tmp = args.config.parent / f".__cli_override_{os.getpid()}.yaml"
    try:
        with tmp.open("w") as f:
            yaml.safe_dump(raw_cfg, f, sort_keys=False)
        cfg = load_config(tmp)
    finally:
        tmp.unlink(missing_ok=True)

    if args.resume_from:
        cfg["train"]["resume_from"] = str(_resolve_path(args.resume_from))
    _maybe_autoresume(cfg, allow_autoresume=not args.no_resume)

    main(cfg)