"""Smoke-check raw + depth layout for coaf_dataset_24_25."""

from __future__ import annotations

import argparse
import json
import sys
from pathlib import Path

import cv2
import numpy as np

SCRIPT_DIR = Path(__file__).resolve().parent
sys.path.insert(0, str(SCRIPT_DIR))
from sampling import RGB_FRAMES, REASON_FRAMES

DATASET_ROOT = Path("/project/llmsvgen/sunkai/robomaster_3d/Casual_CoAF/coaf_dataset_24_25")


def check_episode(ep_dir: Path, check_depth: bool) -> list[str]:
    errors = []
    ep_name = ep_dir.name

    for sub, n in (("rgb", RGB_FRAMES), ("rgb_align", REASON_FRAMES)):
        d = ep_dir / sub
        if not d.is_dir():
            errors.append(f"{ep_name}: missing {sub}/")
            continue
        for i in range(1, n + 1):
            if not (d / f"frame_{i:04d}.png").exists():
                errors.append(f"{ep_name}: missing {sub}/frame_{i:04d}.png")
                break

    state_path = ep_dir / "state" / "state.npy"
    action_path = ep_dir / "action" / "action.npy"
    if not state_path.exists():
        errors.append(f"{ep_name}: missing state.npy")
    else:
        state = np.load(state_path)
        if state.shape != (REASON_FRAMES, 7):
            errors.append(f"{ep_name}: state shape {state.shape}")
    if not action_path.exists():
        errors.append(f"{ep_name}: missing action.npy")
    else:
        action = np.load(action_path)
        if action.shape != (REASON_FRAMES, 7):
            errors.append(f"{ep_name}: action shape {action.shape}")

    manifest_path = ep_dir / "manifest.json"
    if not manifest_path.exists():
        errors.append(f"{ep_name}: missing manifest.json")
    else:
        manifest = json.loads(manifest_path.read_text())
        if len(manifest.get("reason_indices", [])) != REASON_FRAMES:
            errors.append(f"{ep_name}: bad reason_indices length")
        if len(manifest.get("rgb_indices", [])) != RGB_FRAMES:
            errors.append(f"{ep_name}: bad rgb_indices length")

    if check_depth:
        depth_mp4 = DATASET_ROOT / "modalities" / "depth" / ep_name / "depth.mp4"
        if not depth_mp4.exists():
            errors.append(f"{ep_name}: missing depth.mp4")
        else:
            cap = cv2.VideoCapture(str(depth_mp4))
            n = 0
            while True:
                ret, _ = cap.read()
                if not ret:
                    break
                n += 1
            cap.release()
            if n != REASON_FRAMES:
                errors.append(f"{ep_name}: depth.mp4 has {n} frames, expected {REASON_FRAMES}")

    return errors


def main() -> None:
    parser = argparse.ArgumentParser()
    parser.add_argument("--start", type=int, default=0)
    parser.add_argument("--stop", type=int, default=5000)
    parser.add_argument("--check-depth", action="store_true")
    args = parser.parse_args()

    raw_root = DATASET_ROOT / "raw"
    all_errors = []
    checked = 0
    for idx in range(args.start, args.stop):
        ep_dir = raw_root / f"episode_{idx:06d}"
        if not ep_dir.exists():
            all_errors.append(f"episode_{idx:06d}: raw dir missing")
            continue
        all_errors.extend(check_episode(ep_dir, args.check_depth))
        checked += 1

    if all_errors:
        print("FAILED:")
        for e in all_errors:
            print(f"  - {e}")
        raise SystemExit(1)

    print(f"OK: {checked} episodes verified"
          f"{' (with depth)' if args.check_depth else ''}")


if __name__ == "__main__":
    main()