#!/bin/bash
#SBATCH --partition=gre
#SBATCH --nodes=1
#SBATCH --ntasks-per-node=1
#SBATCH --gres=gpu:1
#SBATCH --time=01:00:00
#SBATCH --job-name=gpudrive_nusc_bench
#SBATCH --output=%x-%j.out
#SBATCH --mem=64G
#SBATCH --cpus-per-task=8

set -euo pipefail

PROJECT_ROOT="${PROJECT_ROOT:-/mingli01/project/zihanliu/gpudrive-main}"
CONDA_ENV_NAME="${CONDA_ENV_NAME:-gpudrive}"
DATA_DIR="${DATA_DIR:-data/processed/nuscenes}"

NUM_WORLDS="${NUM_WORLDS:-75}"
DATASET_SIZE="${DATASET_SIZE:-10000}"
STEPS="${STEPS:-200}"
WARMUP_STEPS="${WARMUP_STEPS:-20}"
OBS_RADIUS="${OBS_RADIUS:-50.0}"
POLYLINE_REDUCTION_THRESHOLD="${POLYLINE_REDUCTION_THRESHOLD:-0.1}"
MAX_CONTROLLED_AGENTS="${MAX_CONTROLLED_AGENTS:-64}"
SEED="${SEED:-42}"
ACTION_MODE="${ACTION_MODE:-zero}"

module load conda/3
source "$(conda info --base)/etc/profile.d/conda.sh"
conda activate "${CONDA_ENV_NAME}"

export PYTHONNOUSERSITE=1
export PYTHONUNBUFFERED=1
export OMP_NUM_THREADS="${OMP_NUM_THREADS:-1}"
export MKL_NUM_THREADS="${MKL_NUM_THREADS:-1}"
export MADRONA_MWGPU_KERNEL_CACHE="${MADRONA_MWGPU_KERNEL_CACHE:-${PROJECT_ROOT}/gpudrive_cache}"

cd "${PROJECT_ROOT}"
export PYTHONPATH="${PROJECT_ROOT}:${PYTHONPATH:-}"

echo "PROJECT_ROOT=${PROJECT_ROOT}"
echo "DATA_DIR=${DATA_DIR}"
echo "NUM_WORLDS=${NUM_WORLDS}"
echo "DATASET_SIZE=${DATASET_SIZE}"
echo "STEPS=${STEPS}"
echo "OBS_RADIUS=${OBS_RADIUS}"
echo "POLYLINE_REDUCTION_THRESHOLD=${POLYLINE_REDUCTION_THRESHOLD}"
echo "MAX_CONTROLLED_AGENTS=${MAX_CONTROLLED_AGENTS}"
echo "ACTION_MODE=${ACTION_MODE}"
echo "CUDA_VISIBLE_DEVICES=${CUDA_VISIBLE_DEVICES:-unset}"

if command -v nvidia-smi >/dev/null 2>&1; then
  nvidia-smi -L || true
fi

python -u scripts/benchmark_nuscenes_env.py \
  --data-dir "${DATA_DIR}" \
  --num-worlds "${NUM_WORLDS}" \
  --dataset-size "${DATASET_SIZE}" \
  --steps "${STEPS}" \
  --warmup-steps "${WARMUP_STEPS}" \
  --obs-radius "${OBS_RADIUS}" \
  --polyline-reduction-threshold "${POLYLINE_REDUCTION_THRESHOLD}" \
  --max-controlled-agents "${MAX_CONTROLLED_AGENTS}" \
  --seed "${SEED}" \
  --action-mode "${ACTION_MODE}"