#!/usr/bin/env bash
# Install the optional captured venv_isaaclab fallback package.
#
# Isaac Sim itself is not included. Install/download the matching official
# Isaac Sim release separately and set ISAACSIM_PATH before verifying.

set -euo pipefail

ROOT_DIR="${ROOT_DIR:-$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)}"
TARGET_ROOT="${TARGET_ROOT:-${ROOT_DIR}}"
DATA_ROOT="${DATA_ROOT:-/data4/nerako/reasoning}"
RUNTIME_DIR="${RUNTIME_DIR:-${DATA_ROOT}/runtime_fallback/simplevla-grpo-runtime-fallback}"
ISAACSIM_PATH="${ISAACSIM_PATH:-${TARGET_ROOT}/RLinf/isaac_sim}"

archive="${RUNTIME_DIR}/venv_isaaclab_ubuntu22_cuda124_py311.tar.zst"
first_part="${archive}.part-000"

if [[ ! -f "${archive}" && ! -f "${first_part}" ]]; then
  echo "Missing fallback archive: ${archive} or ${first_part}" >&2
  echo "Run: bash scripts/download_runtime_fallback.sh" >&2
  exit 2
fi

command -v zstd >/dev/null 2>&1 || {
  echo "Missing zstd. Install it first, for example: sudo apt-get install -y zstd" >&2
  exit 2
}

mkdir -p "${TARGET_ROOT}"
if [[ -f "${archive}" ]]; then
  echo "[fallback] extracting ${archive} -> ${TARGET_ROOT}"
  tar --use-compress-program zstd -xpf "${archive}" -C "${TARGET_ROOT}"
else
  echo "[fallback] extracting split ${archive}.part-* -> ${TARGET_ROOT}"
  cat "${archive}".part-* | tar --use-compress-program zstd -xpf - -C "${TARGET_ROOT}"
fi

activation="${TARGET_ROOT}/activate_simplevla_runtime.sh"
cat > "${activation}" <<EOF
#!/usr/bin/env bash
set -euo pipefail

export TARGET_ROOT="${TARGET_ROOT}"
export DATA_ROOT="${DATA_ROOT}"
export RLINF_DIR="\${TARGET_ROOT}/RLinf"
export ISAACSIM_PATH="\${ISAACSIM_PATH:-${ISAACSIM_PATH}}"

source "\${RLINF_DIR}/venv_isaaclab/bin/activate"

if [[ ! -f "\${ISAACSIM_PATH}/setup_conda_env.sh" ]]; then
  echo "Missing Isaac Sim setup_conda_env.sh under ISAACSIM_PATH=\${ISAACSIM_PATH}" >&2
  echo "Install official Isaac Sim 5.1.0 and export ISAACSIM_PATH=/path/to/isaac-sim" >&2
  return 2 2>/dev/null || exit 2
fi

set +u
source "\${ISAACSIM_PATH}/setup_conda_env.sh"
set -u

VENV_SITE="\${RLINF_DIR}/venv_isaaclab/lib/python3.11/site-packages"
export PYTHONPATH="\${RLINF_DIR}:\${VENV_SITE}:\${PYTHONPATH:-}"
export LD_LIBRARY_PATH="\${VENV_SITE}/torch/lib:\${LD_LIBRARY_PATH:-}"
export EMBODIED_PATH="\${RLINF_DIR}/examples/embodiment"
export VK_ICD_FILENAMES="\${VK_ICD_FILENAMES:-/usr/share/vulkan/icd.d/nvidia_icd.json}"
export VK_DRIVER_FILES="\${VK_DRIVER_FILES:-/usr/share/vulkan/icd.d/nvidia_icd.json}"
export PYTORCH_CUDA_ALLOC_CONF="\${PYTORCH_CUDA_ALLOC_CONF:-expandable_segments:True}"
export HF_HUB_ENABLE_HF_TRANSFER=1
export PYTHONUNBUFFERED=1
EOF
chmod +x "${activation}"

echo "[fallback] wrote ${activation}"
echo "[fallback] activate with:"
echo "  source ${activation}"