#!/usr/bin/env python3
"""Serve isolated RoboTwin sessions through one shared A100 policy replica."""
import argparse
import json
from pathlib import Path

from hybrid_concurrent_server import ConcurrentHybridPolicyServer
from serve_eval_policy import serve_policy
from eval_model_registry import MODEL_NAMES


def main():
    parser = argparse.ArgumentParser(description=__doc__)
    parser.add_argument('--model', choices=MODEL_NAMES, default='robotwin')
    parser.add_argument('--precision', choices=['bf16', 'fp32'], default='fp32')
    parser.add_argument('--output', type=Path, required=True)
    parser.add_argument('--port', type=int, default=9340)
    parser.add_argument('--max-clients', type=int, choices=range(1, 9), default=4)
    args = parser.parse_args()
    args.output = args.output.resolve()
    from deploy import websocket_policy_server
    original = websocket_policy_server.WebsocketPolicyServer

    class ConfiguredServer(ConcurrentHybridPolicyServer):
        def __init__(self, *positional, **kwargs):
            super().__init__(*positional, **kwargs, max_clients=args.max_clients,
                             log_path=args.output / 'hybrid_server_requests.jsonl')
            (args.output / 'server_metadata.json').write_text(
                json.dumps(self.metadata, indent=2) + '\n')
            print(json.dumps({'event': 'hybrid_ready', **self.metadata}), flush=True)

    # Preserve the existing strict streaming loader, official FP32 semantics,
    # TF32 flags and exactly the same three offline warmup calls.
    websocket_policy_server.WebsocketPolicyServer = ConfiguredServer
    try:
        serve_policy(args)
    finally:
        websocket_policy_server.WebsocketPolicyServer = original


if __name__ == '__main__':
    main()