#!/bin/bash
#SBATCH --partition=gre
#SBATCH --nodes=1
#SBATCH --ntasks=1
#SBATCH --gres=gpu:1
#SBATCH --time=04:00:00
#SBATCH --job-name=gpudrive_longtail_vis
#SBATCH --output=%x-%j.out
#SBATCH --mem=128G
#SBATCH --cpus-per-task=8

set -euo pipefail

PROJECT_ROOT="${PROJECT_ROOT:-/mingli01/project/zihanliu/gpudrive-main}"
CONDA_ENV_NAME="${CONDA_ENV_NAME:-gpudrive}"
CONFIG_PATH="${CONFIG_PATH:-baselines/ppo/config/ppo_mini_reward_conditioned.yaml}"
CHECKPOINT="${CHECKPOINT:-}"
SEARCH_DIR="${SEARCH_DIR:-longtail_outputs/reward_conditioned_search}"
EVENTS_FILE="${EVENTS_FILE:-}"
DATA_DIR="${DATA_DIR:-}"
OUTPUT_DIR="${OUTPUT_DIR:-${SEARCH_DIR}/videos}"

REPLAY_MODE="${REPLAY_MODE:-fast}"
EVENT_TYPE="${EVENT_TYPE:-any}"
MAX_VIDEOS="${MAX_VIDEOS:-4}"
NUM_WORLDS="${NUM_WORLDS:-}"
DATASET_SIZE="${DATASET_SIZE:-864}"
STEPS="${STEPS:-}"
SEED="${SEED:-42}"
DETERMINISTIC="${DETERMINISTIC:-0}"
NORMAL_MODE="${NORMAL_MODE:-}"
NORMAL_STYLE="${NORMAL_STYLE:-balanced}"
RISK_STYLE="${RISK_STYLE:-risk_taker}"
RISK_AGENTS_PER_WORLD="${RISK_AGENTS_PER_WORLD:-}"
RISK_COLLISION_WEIGHT="${RISK_COLLISION_WEIGHT:-}"
RISK_GOAL_WEIGHT="${RISK_GOAL_WEIGHT:-}"
RISK_OFFROAD_WEIGHT="${RISK_OFFROAD_WEIGHT:-}"
RENDER_EVERY="${RENDER_EVERY:-1}"
FPS="${FPS:-5}"
STOP_ON_COLLISION="${STOP_ON_COLLISION:-1}"
RENDER_3D="${RENDER_3D:-0}"
ZOOM_RADIUS="${ZOOM_RADIUS:-70.0}"
OBS_RADIUS="${OBS_RADIUS:-}"
POLYLINE_REDUCTION_THRESHOLD="${POLYLINE_REDUCTION_THRESHOLD:-}"

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:-}"

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

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

mkdir -p "${OUTPUT_DIR}"

CMD=(
  python -u scripts/visualize_longtail_search.py
  --config "${CONFIG_PATH}"
  --search-dir "${SEARCH_DIR}"
  --output-dir "${OUTPUT_DIR}"
  --replay-mode "${REPLAY_MODE}"
  --event-type "${EVENT_TYPE}"
  --max-videos "${MAX_VIDEOS}"
  --dataset-size "${DATASET_SIZE}"
  --seed "${SEED}"
  --deterministic "${DETERMINISTIC}"
  --normal-style "${NORMAL_STYLE}"
  --risk-style "${RISK_STYLE}"
  --render-every "${RENDER_EVERY}"
  --fps "${FPS}"
  --stop-on-collision "${STOP_ON_COLLISION}"
  --render-3d "${RENDER_3D}"
  --zoom-radius "${ZOOM_RADIUS}"
)

if [[ -n "${CHECKPOINT}" ]]; then
  CMD+=(--checkpoint "${CHECKPOINT}")
fi
if [[ -n "${EVENTS_FILE}" ]]; then
  CMD+=(--events-file "${EVENTS_FILE}")
fi
if [[ -n "${DATA_DIR}" ]]; then
  CMD+=(--data-dir "${DATA_DIR}")
fi
if [[ -n "${NUM_WORLDS}" ]]; then
  CMD+=(--num-worlds "${NUM_WORLDS}")
fi
if [[ -n "${STEPS}" ]]; then
  CMD+=(--steps "${STEPS}")
fi
if [[ -n "${NORMAL_MODE}" ]]; then
  CMD+=(--normal-mode "${NORMAL_MODE}")
fi
if [[ -n "${RISK_AGENTS_PER_WORLD}" ]]; then
  CMD+=(--risk-agents-per-world "${RISK_AGENTS_PER_WORLD}")
fi
if [[ -n "${RISK_COLLISION_WEIGHT}" ]]; then
  CMD+=(--risk-collision-weight "${RISK_COLLISION_WEIGHT}")
fi
if [[ -n "${RISK_GOAL_WEIGHT}" ]]; then
  CMD+=(--risk-goal-weight "${RISK_GOAL_WEIGHT}")
fi
if [[ -n "${RISK_OFFROAD_WEIGHT}" ]]; then
  CMD+=(--risk-offroad-weight "${RISK_OFFROAD_WEIGHT}")
fi
if [[ -n "${OBS_RADIUS}" ]]; then
  CMD+=(--obs-radius "${OBS_RADIUS}")
fi
if [[ -n "${POLYLINE_REDUCTION_THRESHOLD}" ]]; then
  CMD+=(--polyline-reduction-threshold "${POLYLINE_REDUCTION_THRESHOLD}")
fi

echo "SLURM_JOB_ID=${SLURM_JOB_ID:-unknown}"
echo "PROJECT_ROOT=${PROJECT_ROOT}"
echo "SEARCH_DIR=${SEARCH_DIR}"
echo "OUTPUT_DIR=${OUTPUT_DIR}"
echo "REPLAY_MODE=${REPLAY_MODE}"
echo "EVENT_TYPE=${EVENT_TYPE}"
echo "MAX_VIDEOS=${MAX_VIDEOS}"
echo "STOP_ON_COLLISION=${STOP_ON_COLLISION}"
echo "RENDER_3D=${RENDER_3D}"
echo "COMMAND: ${CMD[*]}"

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

"${CMD[@]}"