#!/bin/bash
#SBATCH --partition=gre
#SBATCH --nodes=1
#SBATCH --ntasks-per-node=1
#SBATCH --gres=gpu:1
#SBATCH --time=24:00:00
#SBATCH --job-name=lzh_gpudrive_rc_train
#SBATCH --output=%x-%j.out
#SBATCH --mem=128G
#SBATCH --cpus-per-task=16

set -euo pipefail

PROJECT_ROOT="${PROJECT_ROOT:-/mingli01/project/zihanliu/gpudrive-main}"
CONDA_ENV_NAME="${CONDA_ENV_NAME:-gpudrive}"
CONFIG_PATH="${CONFIG_PATH:-baselines/ppo/config/ppo_mini_reward_conditioned.yaml}"
DATA_DIR="${DATA_DIR:-/mingli01/data/GPUDrive_mini/training}"

TOTAL_TIMESTEPS="${TOTAL_TIMESTEPS:-1000000000}"
SEED="${SEED:-42}"
NUM_WORLDS="${NUM_WORLDS:-1000}"
K_UNIQUE_SCENES="${K_UNIQUE_SCENES:-10000}"
RESAMPLE_DATASET_SIZE="${RESAMPLE_DATASET_SIZE:-864}"
RESAMPLE_INTERVAL="${RESAMPLE_INTERVAL:-2000000}"
BATCH_SIZE="${BATCH_SIZE:-524288}"
MINIBATCH_SIZE="${MINIBATCH_SIZE:-8192}"
OBS_RADIUS="${OBS_RADIUS:-50.0}"
POLYLINE_REDUCTION_THRESHOLD="${POLYLINE_REDUCTION_THRESHOLD:-0.1}"
WANDB_MODE="${WANDB_MODE:-offline}"
WANDB_PROJECT="${WANDB_PROJECT:-gpudrive}"
WANDB_GROUP="${WANDB_GROUP:-mini_reward_conditioned}"

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}"
export WANDB_MODE="${WANDB_MODE}"

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

if [[ ! -f "${CONFIG_PATH}" ]]; then
  echo "ERROR: training config not found: ${CONFIG_PATH}"
  exit 1
fi

if [[ ! -d "${DATA_DIR}" ]]; then
  echo "ERROR: DATA_DIR does not exist: ${DATA_DIR}"
  exit 1
fi

if ! compgen -G "${DATA_DIR}/tfrecord*.json" >/dev/null; then
  echo "ERROR: no tfrecord*.json files found under DATA_DIR=${DATA_DIR}"
  exit 1
fi

echo "SLURM_JOB_ID=${SLURM_JOB_ID:-unknown}"
echo "PROJECT_ROOT=${PROJECT_ROOT}"
echo "CONFIG_PATH=${CONFIG_PATH}"
echo "DATA_DIR=${DATA_DIR}"
echo "TOTAL_TIMESTEPS=${TOTAL_TIMESTEPS}"
echo "SEED=${SEED}"
echo "NUM_WORLDS=${NUM_WORLDS}"
echo "K_UNIQUE_SCENES=${K_UNIQUE_SCENES}"
echo "RESAMPLE_DATASET_SIZE=${RESAMPLE_DATASET_SIZE}"
echo "RESAMPLE_INTERVAL=${RESAMPLE_INTERVAL}"
echo "BATCH_SIZE=${BATCH_SIZE}"
echo "MINIBATCH_SIZE=${MINIBATCH_SIZE}"
echo "OBS_RADIUS=${OBS_RADIUS}"
echo "POLYLINE_REDUCTION_THRESHOLD=${POLYLINE_REDUCTION_THRESHOLD}"
echo "WANDB_MODE=${WANDB_MODE}"
echo "HOSTNAME=$(hostname)"
echo "PWD=$(pwd)"
echo "CUDA_VISIBLE_DEVICES=${CUDA_VISIBLE_DEVICES:-unset}"
echo "SLURM_GPUS_ON_NODE=${SLURM_GPUS_ON_NODE:-unset}"

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

CMD=(
  python -u baselines/ppo/ppo_pufferlib.py
  "${CONFIG_PATH}"
  --data-dir "${DATA_DIR}"
  --num-worlds "${NUM_WORLDS}"
  --k-unique-scenes "${K_UNIQUE_SCENES}"
  --resample-scenes 1
  --resample-dataset-size "${RESAMPLE_DATASET_SIZE}"
  --resample-interval "${RESAMPLE_INTERVAL}"
  --total-timesteps "${TOTAL_TIMESTEPS}"
  --seed "${SEED}"
  --batch-size "${BATCH_SIZE}"
  --minibatch-size "${MINIBATCH_SIZE}"
  --obs-radius "${OBS_RADIUS}"
  --polyline-reduction-threshold "${POLYLINE_REDUCTION_THRESHOLD}"
  --project "${WANDB_PROJECT}"
  --group "${WANDB_GROUP}"
  --render 0
)

echo "COMMAND_BEGIN"
printf '%q ' "${CMD[@]}"
echo
echo "COMMAND_END"

"${CMD[@]}"