"""Portable entry to original inference/rollout code. Plans by default; --run executes."""
import argparse
import json
import os
from pathlib import Path
import subprocess
import sys

ROOT = Path(__file__).resolve().parents[1]
SUBSET_COMMIT = 'b5abe512dafd400736c6dca5905f2fd262dd9029'
PUBLIC_SUBSET_COMMIT = '73277c2022be224d3afb195b503a3cff56ded46d'
SUBSET_CHECKSUMS_SHA256 = 'a8a41f7c5162732cce287e77628840bf754f631825d3a6a343d51c648f932eb9'


def command(args):
    common = ['--model','e5','--precision','fp32','--port',str(args.port),
              '--output',str(args.output.resolve())]
    if args.mode == 'server':
        return [sys.executable,str(ROOT/'scripts/serve_hybrid_concurrent_policy.py'),
                *common,'--max-clients','6']
    if args.subset is None or args.task is None or args.setting is None:
        raise ValueError('Episode requires --subset, --task and --setting')
    from frozen_eval_subset import load_subset
    subset = load_subset(args.subset,require_published=True)
    if (subset.commit not in (SUBSET_COMMIT,PUBLIC_SUBSET_COMMIT)
            or subset.protocol['subset_id'] != 'robotwin-eval-subset-v2-seen-unseen'
            or subset.checksums_sha256 != SUBSET_CHECKSUMS_SHA256):
        raise ValueError('Use the fixed original benchmark subset')
    if not any(r['task']==args.task and r['setting']==args.setting and r['index']==args.index
               for r in subset.plan):
        raise ValueError('Requested episode is not in the fixed benchmark')
    return [sys.executable,str(ROOT/'scripts/hybrid_worker.py'),*common,
            '--mode','evaluate','--task',args.task,'--setting',args.setting,'--index',str(args.index),
            '--condition','a100','--planner-initialization','skip_unused',
            '--manifest-dir',str(subset.manifest_dir),
            '--evaluation-protocol',subset.protocol['runtime_protocol'],
            '--subset-id',subset.protocol['subset_id'],'--subset-commit',subset.commit]


def main(argv=None):
    parser = argparse.ArgumentParser(description=__doc__)
    parser.add_argument('mode',choices=['server','episode'])
    parser.add_argument('--epoch',required=True,choices=['ep2','ep6'])
    parser.add_argument('--output',type=Path,required=True)
    parser.add_argument('--port',type=int,default=9340)
    parser.add_argument('--subset',type=Path)
    parser.add_argument('--task')
    parser.add_argument('--setting',choices=['clean','randomized'])
    parser.add_argument('--index',type=int,default=0)
    parser.add_argument('--run',action='store_true')
    args = parser.parse_args(argv)
    if not 1 <= args.port <= 65535 or not 0 <= args.index < 10:
        parser.error('Invalid port or benchmark episode index')
    cmd = command(args)
    if not args.run:
        print(json.dumps({'status':'plan_only_no_gpu_or_server_started','epoch':args.epoch,'command':cmd}))
        return
    env = dict(os.environ, E5_EPOCH=args.epoch, EVAL_RENDER_SHADER='rt',
               HF_HUB_OFFLINE='1', HF_HUB_DISABLE_TELEMETRY='1',
               PYTHONPATH=os.pathsep.join([str(ROOT),str(ROOT/'scripts'),str(ROOT/'third_party/lingbot-vla-v2')]))
    subprocess.run(cmd,cwd=ROOT,env=env,check=True)


if __name__ == '__main__':
    main()