"""Verify the G1 Dex3 transform pipeline against real dataset rows.

    uv run python scripts/test_transforms.py [DATASET_ROOT]

Prefers the real `openpi.transforms` when importable (run this on the Brev box after
Step 5 for the strongest check); falls back to the faithful stub in scripts/_stub_openpi
so it can also run anywhere with just numpy + pandas + einops.
"""
import pathlib
import sys

import numpy as np
import pandas as pd

HERE = pathlib.Path(__file__).resolve().parent
ROOT = pathlib.Path(sys.argv[1]) if len(sys.argv) > 1 else HERE.parent
sys.path.insert(0, str(ROOT))          # for g1_dex3_policy
try:
    from openpi import transforms      # noqa: F401
    print("using REAL openpi.transforms")
except ModuleNotFoundError:
    sys.path.insert(0, str(HERE / "_stub_openpi"))
    from openpi import transforms
    print("using STUB openpi.transforms (scripts/_stub_openpi)")
import g1_dex3_policy as P

ok=lambda m:print(f"  PASS  {m}")
def fail(m): print(f"  FAIL  {m}"); sys.exit(1)

print("=== 1. delta mask layout ===")
m=transforms.make_bool_mask(7,-7,7,-7)
assert len(m)==28, len(m)
exp=tuple([True]*7+[False]*7+[True]*7+[False]*7)
assert m==exp
groups={'L_arm':m[0:7],'L_hand':m[7:14],'R_arm':m[14:21],'R_hand':m[21:28]}
for g,v in groups.items(): print(f"    {g:<7} delta={all(v)}")
assert all(m[0:7]) and not any(m[7:14]) and all(m[14:21]) and not any(m[21:28])
ok("make_bool_mask(7,-7,7,-7) -> delta on both arms, absolute on both hands")
wrong=transforms.make_bool_mask(14,-14)
print(f"    runbook's make_bool_mask(14,-14): R_arm delta={all(wrong[14:21])} (should be True) "
      f"-> would leave the right arm ABSOLUTE")
assert not any(wrong[14:21])
ok("confirmed the runbook mask would put the right arm on absolute actions")

print("\n=== 2. _upper_body accepts 43 and 28, rejects the rest ===")
assert P._upper_body(np.arange(43.),'s').shape==(28,)
assert np.array_equal(P._upper_body(np.arange(43.),'s'), np.arange(15.,43.))
assert P._upper_body(np.arange(28.),'s').shape==(28,)
assert P._upper_body(np.zeros((50,43)),'a').shape==(50,28)
for bad in (32,43-1,14):
    try: P._upper_body(np.zeros(bad),'s'); fail(f"accepted dim {bad}")
    except ValueError: pass
ok("43 -> slice 15:43, 28 -> passthrough, anything else raises ValueError")

print("\n=== 3. real data through Inputs -> Delta -> Absolute -> Outputs ===")
df=pd.read_parquet(ROOT/'data/chunk-000/episode_000000.parquet')
state43=np.asarray(df['observation.state'].iloc[100],dtype=np.float64)
acts43=np.stack([np.asarray(v,np.float64) for v in df['action'].iloc[100:150]])
assert state43.shape==(43,) and acts43.shape==(50,43)
img=np.zeros((3,480,640),dtype=np.float32)
data={"state":state43,"actions":acts43,"prompt":"pick octopus and place inside brown basket",
      "images":{"base_0_rgb":img,"left_wrist_0_rgb":img,"right_wrist_0_rgb":img}}
out=P.G1Dex3Inputs(action_dim=32)(dict(data))
print(f"    state {state43.shape} -> {out['state'].shape}   actions {acts43.shape} -> {out['actions'].shape}")
assert out['state'].shape==(32,) and out['actions'].shape==(50,32)
assert np.array_equal(out['state'][:28],state43[15:43])
assert np.all(out['state'][28:]==0) and np.all(out['actions'][:,28:]==0)
for k,v in out['image'].items(): assert v.shape==(480,640,3) and v.dtype==np.uint8, (k,v.shape,v.dtype)
ok("Inputs: 43->28 sliced, padded to 32 with zeros, CHW float -> HWC uint8")

mask=transforms.make_bool_mask(7,-7,7,-7)
d=transforms.DeltaActions(mask)({**out,"actions":out['actions'].copy()})
delta=d['actions']
# arms became deltas; hands untouched
assert np.allclose(delta[:,0:7],   acts43[:,15:22]-state43[15:22])
assert np.allclose(delta[:,7:14],  acts43[:,22:29])
assert np.allclose(delta[:,14:21], acts43[:,29:36]-state43[29:36])
assert np.allclose(delta[:,21:28], acts43[:,36:43])
print(f"    mean |arm| raw={np.abs(acts43[:,15:22]).mean():.4f} -> delta={np.abs(delta[:,0:7]).mean():.4f}"
      f"   (delta is {np.abs(acts43[:,15:22]).mean()/max(np.abs(delta[:,0:7]).mean(),1e-9):.1f}x smaller)")
ok("DeltaActions: arms differenced against state, hands left absolute, padding untouched")

back=transforms.AbsoluteActions(mask)({**d,"actions":delta.copy()})
final=P.G1Dex3Outputs()({"actions":back['actions']})
assert final['actions'].shape==(50,28)
assert np.allclose(final['actions'],acts43[:,15:43]), np.abs(final['actions']-acts43[:,15:43]).max()
ok(f"round trip exact: max err {np.abs(final['actions']-acts43[:,15:43]).max():.2e}")

print("\n=== 4. serve-time path: robot sends 28 dims instead of 43 ===")
o28=P.G1Dex3Inputs(action_dim=32)({**data,"state":state43[15:43],"actions":None} | {"actions":acts43[:,15:43]})
assert np.array_equal(o28['state'],out['state']) and np.allclose(o28['actions'],out['actions'])
ok("28-dim client state produces an identical model input to the 43-dim path")

print("\n=== 5. left-hand dims are the constant we expect ===")
assert np.all(acts43[:,22:29]==0.0)
ok("left_hand action == 0.0, survives padding/normalisation as a constant")
print("\nALL CHECKS PASSED")