import json
import os
import urllib.request

URL = "https://mitvho09--robomind-gradio-serve.modal.run/judge/video"
TEST_DIR = "temp_rollouts/test_battery"

results = []
for fname in sorted(os.listdir(TEST_DIR)):
    if not fname.endswith(".mp4"):
        continue
    parts = fname.replace(".mp4", "").rsplit("_", 2)
    env_tier = fname.replace("_ep0.mp4", "")
    fpath = os.path.join(TEST_DIR, fname)

    print(f"Testing {env_tier}...", end=" ", flush=True)

    with open(fpath, "rb") as f:
        video_data = f.read()

    boundary = "----WebKitFormBoundary7MA4YWxkTrZu0gW"
    body = (
        f"--{boundary}\r\n"
        f'Content-Disposition: form-data; name="file"; filename="{fname}"\r\n'
        f"Content-Type: video/mp4\r\n\r\n"
    ).encode() + video_data + f"\r\n--{boundary}--\r\n".encode()

    req = urllib.request.Request(
        URL,
        data=body,
        headers={"Content-Type": f"multipart/form-data; boundary={boundary}"},
        method="POST",
    )

    try:
        with urllib.request.urlopen(req, timeout=120) as resp:
            data = json.loads(resp.read().decode())
            hybrid = data.get("hybrid", {})
            reward = hybrid.get("predicted_reward", -1)
            vlm_reward = hybrid.get("vlm_reward", -1)
            rule_reward = hybrid.get("rule_reward", -1)
            stability = hybrid.get("stability", "?")
            method = hybrid.get("method", "?")
            print(f"reward={reward:.3f} vlm={vlm_reward:.3f} rule={rule_reward:.3f} stability={stability} method={method}")
            results.append({"env_tier": env_tier, "reward": reward, "vlm": vlm_reward, "rule": rule_reward, "stability": stability})
    except Exception as e:
        print(f"ERROR: {e}")
        results.append({"env_tier": env_tier, "reward": -1, "error": str(e)})

print("\n=== SUMMARY ===")
print(f"{'Env/Tier':<25} {'Reward':>7} {'VLM':>7} {'Rule':>7} {'Stability':<12}")
print("-" * 60)
for r in results:
    print(f"{r['env_tier']:<25} {r.get('reward',-1):>7.3f} {r.get('vlm',0):>7.3f} {r.get('rule',0):>7.3f} {r.get('stability','?'):<12}")