#!/usr/bin/env bash
# Fix4: install git-lfs then lerobot; also run a smoke test with one demo video
set -uo pipefail

ROOT=/lustre/fsw/portfolios/nvr/users/jtremblay/yu
CONDA=$ROOT/miniconda3
LOG=$ROOT/1027_run/logs/setup_fix4.log
exec > >(tee -a $LOG) 2>&1

export PATH=$CONDA/bin:/usr/local/bin:/usr/bin:/bin
export HOME=/root
source $CONDA/etc/profile.d/conda.sh

log() { echo "== $(date '+%F %T') $*"; }

SP=$CONDA/envs/simfoundry/bin/python

# ── Install git-lfs ───────────────────────────────────────────────────────────
log "Installing git-lfs"
apt-get install -y git-lfs 2>&1 | tail -3
git lfs install --skip-repo 2>&1 || true
git lfs version

# ── Install lerobot ──────────────────────────────────────────────────────────
log "Installing lerobot into simfoundry"
$SP -m pip install --no-cache-dir \
    "lerobot @ git+https://github.com/huggingface/lerobot.git@577cd10974b84bea1f06b6472eb9e5e74e07f77a"
$SP -m pip install --no-cache-dir "numpy==1.26.4" "psutil==5.9.8"

log "Verify lerobot in simfoundry"
$SP -c "import lerobot; print('lerobot', lerobot.__version__ if hasattr(lerobot,'__version__') else 'ok')"

log "Verify omnigibson (no EULA prompt, headless)"
OMNI_KIT_ACCEPT_EULA=YES $SP -c "
import omnigibson
print('omnigibson ok')
" 2>&1 | tail -4

# ── Quick video smoke test ─────────────────────────────────────────────────────
# Run one demo with video, check the output
log "Running quick video smoke test (package_d5, 1 seed, with video)"
TASKS=$ROOT/1027_sim_tasks
V5CODE=$TASKS/share_v5_sim2real_20260929/code
PKG=$TASKS/package_d5
B1K=$ROOT/SimFoundry/deps/BEHAVIOR-1K
HOME_FAKE=$ROOT/1027_run/home_fake
RUN=$ROOT/1027_run

mkdir -p $HOME_FAKE/ur5_sim2real_v5
ln -sfn $CONDA                      $HOME_FAKE/miniconda3 2>/dev/null || true
ln -sfn $TASKS/share_v5_sim2real_20260929 $HOME_FAKE/ur5_sim2real_v5/share_v5_sim2real_20260929 2>/dev/null || true
export HOME=$HOME_FAKE

# Set up OG data for package_d5
OG_DATA=$RUN/og_data/package_d5
if [ ! -d $OG_DATA ]; then
    log "Setting up package_d5 OG data"
    bash $PKG/setup_og_data.sh "$B1K/datasets" "$OG_DATA"
fi

SMOKE_OUT=$RUN/data/smoke_package_d5
mkdir -p $SMOKE_OUT
export OMNIGIBSON_DATA_PATH=$OG_DATA STEP40_OG_DATA=$OG_DATA
export UR5_IMPORT=$V5CODE/ur5_import
export OBJECT_ASSETS=$PKG/object_assets
export STEP40_DATA=$PKG/data
export OMNIGIBSON_APPDATA_PATH=$PKG/og_appdata
export OMNIGIBSON_HEADLESS=1 OMNI_KIT_ACCEPT_EULA=YES PYTHONUNBUFFERED=1
export TORCHINDUCTOR_COMPILE_THREADS=1

log "Collecting 1 demo with video"
timeout 600 $SP -u $PKG/scripts/t40_collect.py \
    --out $SMOKE_OUT \
    --seeds 1-5 \
    --max-kept 1 \
    --expert-cfg $PKG/cfg/expert_lean.json \
    2>&1 | tee $RUN/logs/smoke_package_d5.log
log "Smoke collect exit $?"

# Check video output
VID=$(find $SMOKE_OUT/videos -name "*.mp4" 2>/dev/null | head -1)
if [ -n "$VID" ]; then
    log "Video found: $VID"
    # Check it's a valid mp4 (non-zero size, readable header)
    SIZE=$(stat -c%s "$VID" 2>/dev/null || echo 0)
    log "Video size: $SIZE bytes"
    if [ "$SIZE" -gt 10000 ]; then
        log "VIDEO OK: $VID ($SIZE bytes)"
    else
        log "WARNING: video too small ($SIZE bytes)"
    fi
    # Show first frame info via ffprobe if available
    ffprobe -v quiet -print_format json -show_streams "$VID" 2>/dev/null | \
        python3 -c "import json,sys; s=json.load(sys.stdin)['streams'][0]; \
        print(f'  codec={s[\"codec_name\"]} {s[\"width\"]}x{s[\"height\"]} {s[\"nb_frames\"]} frames')" 2>/dev/null || true
else
    log "WARNING: no video found in $SMOKE_OUT/videos"
    ls $SMOKE_OUT/ 2>/dev/null
fi

log "ALL DONE"