#!/usr/bin/bash

set -x

# ============================================================
#  Preprocess LeRobot dataset -> LingBot-VA latents
#  Usage:
#    bash script/run_preprocess.sh
#    NGPU=4 bash script/run_preprocess.sh
#    NGPU=4 WORKERS_PER_GPU=2 bash script/run_preprocess.sh
#    DATASET_ROOT=/data/my_dataset bash script/run_preprocess.sh
#    DEBUG=1 bash script/run_preprocess.sh
# ============================================================

# ---------- Required: modify these to your paths ----------
DATASET_ROOT=${DATASET_ROOT:-"/c20250502/szh/human_lerobot/final_dataset"}
WAN_MODEL_ROOT=${WAN_MODEL_ROOT:-"/vepfs-mlp2/c20250502/haoce/szh/lingbot-va/Wan2.2-TI2V-5B-Diffusers"}
CAMERA_KEYS=${CAMERA_KEYS:-"observation.images.main"}

# ---------- Optional: defaults should be fine ----------
NGPU=${NGPU:-0}           # 0 = auto-detect all GPUs
WORKERS_PER_GPU=${WORKERS_PER_GPU:-4}
HEIGHT=${HEIGHT:-256}
WIDTH=${WIDTH:-256}
TARGET_FPS=${TARGET_FPS:-10}
SKIP_EXISTING=${SKIP_EXISTING:-1}       # 1 = skip, 0 = re-encode
OVERWRITE_ACTION_CFG=${OVERWRITE_ACTION_CFG:-0}  # 1 = regenerate action_config
DEBUG=${DEBUG:-0}                       # 1 = random debug mode, process only total worker count samples
DEBUG_SEED=${DEBUG_SEED:-0}             # random seed for debug sample selection

# ---------- Build flags ----------
extra_flags=""
if [ "${SKIP_EXISTING}" -eq 1 ]; then
    extra_flags="${extra_flags} --skip-existing"
fi
if [ "${OVERWRITE_ACTION_CFG}" -eq 1 ]; then
    extra_flags="${extra_flags} --overwrite-action-config"
fi
if [ "${DEBUG}" -eq 1 ]; then
    extra_flags="${extra_flags} --debug --debug-seed ${DEBUG_SEED}"
fi

# ---------- Run ----------
echo "[run_preprocess] DATASET_ROOT=${DATASET_ROOT}"
echo "[run_preprocess] WAN_MODEL_ROOT=${WAN_MODEL_ROOT}"
echo "[run_preprocess] CAMERA_KEYS=${CAMERA_KEYS}"
echo "[run_preprocess] HEIGHT=${HEIGHT} WIDTH=${WIDTH} TARGET_FPS=${TARGET_FPS}"
echo "[run_preprocess] NGPU=${NGPU} WORKERS_PER_GPU=${WORKERS_PER_GPU} SKIP_EXISTING=${SKIP_EXISTING} OVERWRITE_ACTION_CFG=${OVERWRITE_ACTION_CFG} DEBUG=${DEBUG} DEBUG_SEED=${DEBUG_SEED}"
echo "[run_preprocess] Launching preprocess_lerobot_for_lingbot_mgme_v3.py"

python -W ignore script/preprocess_lerobot_for_lingbot_mgme_v3.py \
    --dataset-root "${DATASET_ROOT}" \
    --wan-model-root "${WAN_MODEL_ROOT}" \
    --camera-keys ${CAMERA_KEYS} \
    --height ${HEIGHT} \
    --width ${WIDTH} \
    --target-fps ${TARGET_FPS} \
    --num-gpus ${NGPU} \
    --workers-per-gpu ${WORKERS_PER_GPU} \
    ${extra_flags}

echo "[run_preprocess] Preprocess finished"