#!/usr/bin/env bash
set -uo pipefail
# ─────────────────────────────────────────────────────────────────────────────
# run_all_groot.sh — evaluate ALL 10 GR00T conflict checkpoints.
#
# One checkpoint per GPU: for each category we start a dedicated GR00T zmq
# inference server (gr00t venv) pinned to one GPU, then run the ManiSkill OOD
# sweep (ms venv) on the SAME GPU for GPU physics+render, then stop the server.
# Up to NUM_GPUS checkpoints run concurrently (processed in waves).
#
# Each checkpoint is evaluated on its OWN conflict experiment (category name).
# Every episode video is saved under
#   ${OUT_ROOT}/<category>/experiments/<run_name>/video/ep000{,_wrist}.mp4
#
# Usage:
#   bash run_all_groot.sh [seed] [total_episodes]
# Defaults: seed=42  total_episodes=200  (→ 400 runs per checkpoint)
# Override episode count: bash run_all_groot.sh 42 20
# ─────────────────────────────────────────────────────────────────────────────

SEED="${1:-42}"
TOTAL_EPISODES="${2:-200}"

ROOT=/workspace/groot_eval
HARNESS="${ROOT}/harness"
CKPT_ROOT="${ROOT}/checkpoints"
OUT_ROOT="${OUT_ROOT:-${ROOT}/results}"
LOG_DIR="${ROOT}/logs/run_$(date +%Y%m%d_%H%M%S)"
GROOT_VENV_PY="${ROOT}/gr00t_repo/codebase/.venv/bin/python"
GROOT_CODE="${ROOT}/gr00t_repo/codebase"
MS_PY="${ROOT}/.venv_ms/bin/python"
NUM_GPUS="${NUM_GPUS:-8}"
SIM_BACKEND="${SIM_BACKEND:-gpu}"
BASE_PORT="${BASE_PORT:-5600}"

CATEGORIES=(
  color_object color_size color_spatial size_object spatial_object
  spatial_size verb_color verb_object verb_size verb_spatial
)

mkdir -p "${LOG_DIR}" "${OUT_ROOT}"
echo "seed=${SEED} total_episodes=${TOTAL_EPISODES} sim_backend=${SIM_BACKEND}"
echo "logs: ${LOG_DIR}"
echo "results/videos: ${OUT_ROOT}"

run_one() {
  local cat="$1" gpu="$2" port="$3"
  local ckpt="${CKPT_ROOT}/${cat}"
  local slog="${LOG_DIR}/server_${cat}.log"
  local clog="${LOG_DIR}/client_${cat}.log"
  local exp_root="${OUT_ROOT}/${cat}/experiments"
  local results_txt="${OUT_ROOT}/${cat}/${cat}_ood_seed${SEED}.txt"
  mkdir -p "${exp_root}" "$(dirname "${results_txt}")"

  echo "[$(date +%H:%M:%S)] START ${cat}  gpu=${gpu} port=${port}"

  # ── Start GR00T inference server on this GPU ──
  ( cd "${GROOT_CODE}" && CUDA_VISIBLE_DEVICES="${gpu}" \
      HF_HOME="${ROOT}/.hf_cache" HF_TOKEN="$(cat ${ROOT}/.hf_token)" \
      NO_ALBUMENTATIONS_UPDATE=1 TOKENIZERS_PARALLELISM=false \
      "${GROOT_VENV_PY}" -m gr00t.eval.run_gr00t_server \
        --model-path "${ckpt}" \
        --embodiment-tag new_embodiment \
        --device cuda:0 \
        --host 127.0.0.1 \
        --port "${port}" ) > "${slog}" 2>&1 &
  local server_pid=$!

  # ── Wait until the server is listening (model load can take ~1-2 min) ──
  local ready=0
  for _ in $(seq 1 180); do
    if ! kill -0 "${server_pid}" 2>/dev/null; then
      echo "[${cat}] SERVER DIED during startup — see ${slog}"
      break
    fi
    if grep -q "Server ready\|Server is ready and listening" "${slog}" 2>/dev/null; then
      ready=1; break
    fi
    sleep 3
  done
  if [[ "${ready}" -ne 1 ]]; then
    echo "[${cat}] server not ready; killing. tail server log:"
    tail -n 20 "${slog}" || true
    kill "${server_pid}" 2>/dev/null || true
    wait "${server_pid}" 2>/dev/null || true
    return 1
  fi
  echo "[$(date +%H:%M:%S)] [${cat}] server ready (pid ${server_pid}), starting sweep"

  # ── Run the OOD sweep on the SAME GPU (ManiSkill GPU physics+render) ──
  CUDA_VISIBLE_DEVICES="${gpu}" \
  HOST=127.0.0.1 PORT="${port}" SIM_BACKEND="${SIM_BACKEND}" \
  EXPERIMENT_ROOT="${exp_root}" GROOT_MAIN="${HARNESS}/groot_main.py" MS_PY="${MS_PY}" \
  bash "${HARNESS}/run_ood_groot_inference.sh" \
      "${cat}" "${SEED}" "${TOTAL_EPISODES}" "${results_txt}" \
      > "${clog}" 2>&1
  local rc=$?

  # ── Stop the server ──
  kill "${server_pid}" 2>/dev/null || true
  wait "${server_pid}" 2>/dev/null || true
  echo "[$(date +%H:%M:%S)] DONE ${cat} rc=${rc}  results=${results_txt}"
  return ${rc}
}

# ── Process in waves of NUM_GPUS (one checkpoint per GPU) ──
launched=0
pids=()
for idx in "${!CATEGORIES[@]}"; do
  cat="${CATEGORIES[$idx]}"
  gpu=$(( launched % NUM_GPUS ))
  port=$(( BASE_PORT + gpu ))
  run_one "${cat}" "${gpu}" "${port}" &
  pids+=($!)
  launched=$(( launched + 1 ))
  if (( launched % NUM_GPUS == 0 )); then
    echo "[$(date +%H:%M:%S)] --- waiting for wave to finish ---"
    for p in "${pids[@]}"; do wait "${p}" || true; done
    pids=()
  fi
done
for p in "${pids[@]}"; do wait "${p}" || true; done

echo
echo "================ ALL DONE ================"
for cat in "${CATEGORIES[@]}"; do
  rt="${OUT_ROOT}/${cat}/${cat}_ood_seed${SEED}.txt"
  if [[ -f "${rt}" ]]; then
    echo "### ${cat}"
    grep -E "^overall_" "${rt}" 2>/dev/null || echo "  (no overall_ line — check logs)"
  else
    echo "### ${cat}: MISSING ${rt}"
  fi
done
echo "Videos under: ${OUT_ROOT}/<category>/experiments/<run_name>/video/"