"""
compute_force_stats.py

Compute per-channel ACTIVE (nonzero) statistics for FORCE only.

Why: the original force_ch_std was computed over ALL pixels including the ~98%
zero background, which dilutes std to a tiny value. Dividing by that tiny std
inflates real contact forces and makes the VAE loss spike. This computes std
over NONZERO pixels only -> the correct normalization scale.

Contact is NOT recomputed (it uses contact_ch_max, which is unaffected by zeros).

Output: writes/updates force_ch_active_mean / force_ch_active_std into a json.
You can either merge these into your existing dataset_norm_params.json, or pass
this new json to the dataloader (it reads force_ch_active_std if present).

Usage:
  python compute_force_stats.py --root ./grasping
  python compute_force_stats.py --root ./grasping --out ./grasping/force_stats.json
  # merge into existing stats file:
  python compute_force_stats.py --root ./grasping --merge_into ./grasping/dataset_norm_params.json
"""
import argparse
import json
from pathlib import Path
import numpy as np
from tqdm import tqdm


CH_NAMES = ["L_fx", "L_fy", "L_fz", "R_fx", "R_fy", "R_fz"]


def main():
    ap = argparse.ArgumentParser()
    ap.add_argument("--root", required=True)
    ap.add_argument("--out", default=None,
                    help="output json (default: <root>/force_stats.json)")
    ap.add_argument("--merge_into", default=None,
                    help="if set, merge force_ch_active_* into this existing json")
    args = ap.parse_args()

    root = Path(args.root)
    episodes = [p for p in root.rglob("*")
                if p.is_dir() and (p / "masks.json").exists()]
    print(f"Found {len(episodes)} valid episodes")

    # per-channel accumulators over NONZERO pixels only
    f_sum = np.zeros(6); f_sq = np.zeros(6); f_cnt = np.zeros(6)
    f_absmax = np.zeros(6)
    f_min = np.full(6, np.inf); f_max = np.full(6, -np.inf)

    total_frames = 0
    skipped = 0
    for ep in tqdm(episodes, desc="episodes"):
        fdir = ep / "modalities" / "force"
        if not fdir.exists():
            skipped += 1
            continue
        for ff in sorted(fdir.glob("*.npy")):
            f = np.load(ff).astype(np.float64)   # (6,H,W)
            if f.ndim != 3 or f.shape[0] != 6:
                continue
            total_frames += 1
            for ch in range(6):
                v = f[ch][f[ch] != 0]            # NONZERO only
                if v.size:
                    f_sum[ch] += v.sum()
                    f_sq[ch] += (v ** 2).sum()
                    f_cnt[ch] += v.size
                    f_absmax[ch] = max(f_absmax[ch], np.abs(v).max())
                    f_min[ch] = min(f_min[ch], v.min())
                    f_max[ch] = max(f_max[ch], v.max())

    if total_frames == 0:
        raise RuntimeError("no force frames found")

    f_cnt_safe = np.maximum(f_cnt, 1)
    f_active_mean = f_sum / f_cnt_safe
    f_active_std = np.sqrt(np.maximum(f_sq / f_cnt_safe - f_active_mean ** 2, 1e-12))
    f_min[~np.isfinite(f_min)] = 0.0
    f_max[~np.isfinite(f_max)] = 0.0

    force_stats = {
        "force_ch_active_mean": f_active_mean.tolist(),
        "force_ch_active_std": f_active_std.tolist(),
        "force_ch_abs_max": f_absmax.tolist(),
        "force_ch_min": f_min.tolist(),
        "force_ch_max": f_max.tolist(),
        "num_frames": int(total_frames),
    }

    # print summary
    print(f"\nframes used: {total_frames}")
    print(f"{'ch':6s} {'active_std':>11s} {'abs_max':>9s} {'max/std':>8s}")
    print("-" * 40)
    for i in range(6):
        ratio = f_absmax[i] / (f_active_std[i] + 1e-12)
        print(f"{CH_NAMES[i]:6s} {f_active_std[i]:11.5f} {f_absmax[i]:9.4f} {ratio:8.1f}")
    print("\n(if max/std > ~20, a clip after normalization is still recommended)")

    # write output
    if args.merge_into:
        with open(args.merge_into) as fp:
            existing = json.load(fp)
        existing.update(force_stats)
        with open(args.merge_into, "w") as fp:
            json.dump(existing, fp, indent=2)
        print(f"\nmerged force_ch_active_* into {args.merge_into}")
    else:
        out = args.out or str(root / "force_stats.json")
        with open(out, "w") as fp:
            json.dump(force_stats, fp, indent=2)
        print(f"\nwrote {out}")


if __name__ == "__main__":
    main()