#!/usr/bin/env bash
set -euo pipefail

REPO=/home/ubuntu/Documents/01Proj/13atec/ATEC2026_Simulation_Challenge
OPENPI=/home/ubuntu/src/openpi-ebench-clean
PY=/home/ubuntu/envs/openpi-pi05/bin/python
CONFIG=pi05_atec_task_e_20demos_s5_224
CONVERT_UNIT_FILE="$REPO/logs/pi05_convert_task_e_s5_224_20demos.latest_unit"
STAMP="$(date +%Y%m%d%H%M%S)"
NORM_LOG="$REPO/logs/pi05_norm_task_e_20demos_s5_224_${STAMP}.log"
TRAIN_LOG="$REPO/logs/pi05_train_task_e_20demos_s5_224_${STAMP}.log"

export HF_LEROBOT_HOME=/home/ubuntu/projects/robotics_shared/datasets/lerobot
export HF_HOME=/home/ubuntu/projects/robotics_shared/hf_cache
export PYTHONPATH="$OPENPI/src:$OPENPI/packages/openpi-client/src"
export XLA_PYTHON_CLIENT_MEM_FRACTION="${XLA_PYTHON_CLIENT_MEM_FRACTION:-0.80}"

cd "$OPENPI"

if [[ -f "$CONVERT_UNIT_FILE" ]]; then
  convert_unit="$(cat "$CONVERT_UNIT_FILE").service"
  echo "[INFO] Waiting for $convert_unit"
  while systemctl --user is-active --quiet "$convert_unit"; do
    sleep 60
  done
  systemctl --user is-failed --quiet "$convert_unit" && {
    echo "[ERROR] Conversion unit failed: $convert_unit"
    systemctl --user status "$convert_unit" --no-pager --lines=80 || true
    exit 1
  }
fi

echo "[INFO] Computing norm stats for $CONFIG" | tee "$NORM_LOG"
"$PY" scripts/compute_norm_stats.py \
  --config-name "$CONFIG" \
  --max-frames 7000 2>&1 | tee -a "$NORM_LOG"

echo "[INFO] Training $CONFIG" | tee "$TRAIN_LOG"
"$PY" scripts/train.py \
  "$CONFIG" \
  --exp-name atec_task_e_pi05_20demos_s5_224_2k_${STAMP} \
  --overwrite 2>&1 | tee -a "$TRAIN_LOG"