#!/usr/bin/env bash
set -uo pipefail
# ─────────────────────────────────────────────────────────────────────────────
# run_pi0_ckpt_3seed.sh — ONE pi0 ckpt, ONE GPU, GR00T conflict definition,
# 200 episodes × seeds {40,41,42}, server loaded ONCE, 3-seed average.
#
#   GR00T def = run_ood_groot_inference.sh + pi0_pairwise_main.py
#   (= groot_main.py mirror, policy=pi0 openpi websocket).  Always-distractor,
#   dual-axis (overall_color_success / overall_size|spatial_success).
#   sim_backend=cpu (pi0+GPU-sim → CUDA illegal access).
#
# Usage: run_pi0_ckpt_3seed.sh <ckpt> <gpu> [port]
# Env: SEEDS_OVERRIDE ("42" for smoke), TOTAL_EPISODES (200)
# ─────────────────────────────────────────────────────────────────────────────
ROOT=/workspace/groot_eval
HARNESS="${ROOT}/harness"
SIM_ROOT=/workspace/eval_simulation/simulation
CKPT="${1:?ckpt}"
GPU="${2:?gpu}"
PORT="${3:-$((8300 + GPU))}"
STEP="${STEP:-17999}"
SEEDS=(${SEEDS_OVERRIDE:-40 41 42})
TOTAL_EPISODES="${TOTAL_EPISODES:-200}"
SIM_BACKEND="${SIM_BACKEND:-cpu}"
MAX_EPISODE_STEPS="${MAX_EPISODE_STEPS:-150}"
REPLAN_STEPS="${REPLAN_STEPS:-10}"

MODEL_DIR="/workspace/pi0_ckpt/${CKPT}/${STEP}"
OUT_DIR="${ROOT}/results_pi0_gr00tdef/${CKPT}"
LOG_DIR="${ROOT}/logs/pi0_pairwise"
mkdir -p "${OUT_DIR}" "${LOG_DIR}"
slog="${LOG_DIR}/srv_${CKPT}_g${GPU}.log"
[[ -d "${MODEL_DIR}" ]] || { echo "[${CKPT}] MODEL_DIR not found"; exit 1; }

EXPERIMENT="$(python3 - "${CKPT}" <<'PY'
import sys
n=sys.argv[1]
e=["spatial_object","spatial_size","color_spatial","color_object","color_size",
   "verb_spatial","verb_object","verb_color","verb_size","size_object"]
h=[x for x in e if n.startswith(x)]
print(max(h,key=len) if h else "")
PY
)"
[[ -n "${EXPERIMENT}" ]] || { echo "[${CKPT}] cannot parse experiment"; exit 1; }
echo "[$(date +%H:%M:%S)] ${CKPT}: exp=${EXPERIMENT} gpu=${GPU} port=${PORT} seeds=${SEEDS[*]} ${TOTAL_EPISODES}ep cpu-sim"

( cd /workspace/eval_pi0 && CUDA_VISIBLE_DEVICES="${GPU}" \
    UV_PROJECT_ENVIRONMENT=/venv/pi0_eval uv run --no-sync scripts/serve_policy.py \
      --port "${PORT}" policy:checkpoint \
      --policy.config pi0_maniskill --policy.dir "${MODEL_DIR}" ) > "${slog}" 2>&1 &
spid=$!
ok=0
for _ in $(seq 1 200); do
  kill -0 "${spid}" 2>/dev/null || { echo "[${CKPT}] SERVER DIED"; break; }
  grep -qiE "Creating server|websocket_policy_server|server listening" "${slog}" 2>/dev/null && { ok=1; break; }
  sleep 3
done
[[ "${ok}" == "1" ]] || { echo "[${CKPT}] server not ready"; tail -n 25 "${slog}"; kill -9 "${spid}" 2>/dev/null; exit 1; }
echo "[$(date +%H:%M:%S)] ${CKPT}: pi0 server ready (pid ${spid})"

rc_all=0
for sb in "${SEEDS[@]}"; do
  rt="${OUT_DIR}/pi0_${EXPERIMENT}_${CKPT}_seed${sb}.txt"
  echo "[$(date +%H:%M:%S)] ${CKPT}: seed${sb} → ${rt}"
  HOST=127.0.0.1 PORT="${PORT}" SIM_BACKEND="${SIM_BACKEND}" \
  MAX_EPISODE_STEPS="${MAX_EPISODE_STEPS}" REPLAN_STEPS="${REPLAN_STEPS}" SEED_BASE=0 \
  EXPERIMENT_ROOT="${OUT_DIR}/video_seed${sb}" \
  GROOT_MAIN="${HARNESS}/pi0_pairwise_main.py" \
  MS_PY="/venv/pi05_ms/bin/python" \
  MANISKILL_CONFLICT_ROOT="${SIM_ROOT}" \
  bash "${HARNESS}/run_ood_groot_inference.sh" "${EXPERIMENT}" "${sb}" "${TOTAL_EPISODES}" "${rt}" \
    > "${LOG_DIR}/cli_${CKPT}_s${sb}.log" 2>&1
  [[ $? -ne 0 ]] && rc_all=1
  grep -E "^overall_" "${rt}" 2>/dev/null || echo "[${CKPT} s${sb}] no overall_ (see cli log)"
done

kill -9 "${spid}" 2>/dev/null; pkill -9 -P "${spid}" 2>/dev/null

python3 - "${OUT_DIR}" "${EXPERIMENT}" "${CKPT}" "${SEEDS[@]}" > "${OUT_DIR}/SUMMARY.txt" <<'PY'
import re,sys
from pathlib import Path
out,exp,ck,*seeds=sys.argv[1:]
acc={}
for sb in seeds:
    p=Path(out)/f"pi0_{exp}_{ck}_seed{sb}.txt"
    if not p.exists(): print(f"seed{sb}: MISSING"); continue
    t=p.read_text(); line=[]
    for m in re.finditer(r"^(overall_\w+)=(\d+)/(\d+) \(([\d.]+)%\)",t,re.M):
        k,r=m.group(1),float(m.group(4)); acc.setdefault(k,[]).append(r); line.append(f"{k}={r:.1f}%")
    print(f"seed{sb}: "+("  ".join(line) if line else "PARSE_FAILED"))
print(f"\n# {ck}  exp={exp}  GR00T-def {len(seeds)}seed×{__import__('os').environ.get('TE','200')}ep cpu-sim")
for k,v in acc.items(): print(f"AVG {k} = {sum(v)/len(v):.1f}%  (n={len(v)})")
PY
echo "[$(date +%H:%M:%S)] ${CKPT}: DONE rc=${rc_all}"
cat "${OUT_DIR}/SUMMARY.txt"
exit ${rc_all}