"""Experiment 2 orchestrator: select -> build -> cache -> queue of (arm, seed) jobs over 4 GPUs; each job = train 20k -> eval native 200 -> eval rate-matched 200."""
import subprocess, os, sys, json, time, threading, queue
R = "/workspace/isr"; P = "aloha_transfer_cube"; SRC = f"{R}/datasets/aloha_sim_transfer_cube_human"; T = "AlohaTransferCube-v0"
ARMS = {"raw": (None, 1), "uni3": (["--uniform", "3"], 3), "isr": (["--isr", "--d", "3.5", "--lam", "0.0004", "--gthr", "2.84"], 3)}
BUILD_ONLY = os.environ.get("BUILD_ARMS", "").split(",") if os.environ.get("BUILD_ARMS") else list(ARMS)
SEEDS = [1000, 2000, 3000]; STEPS = int(os.environ.get("STEPS", "20000")); EPS = int(os.environ.get("EPS", "200")); GPUS = [0, 1, 2, 3, 0, 1, 2, 3]
def sh(cmd, log): 
    with open(log, "a") as f: return subprocess.run(cmd, shell=True, executable="/bin/bash", stdout=f, stderr=subprocess.STDOUT, cwd=R).returncode
env = dict(os.environ, ISR_SRC=SRC, ISR_TRAJS=f"{R}/trajs_{P}", ISR_KEEPS=f"{R}/keeps2_{P}", ISR_CAMS="observation.images.top", ISR_FPS="50", ISR_ROBOT="aloha")
if os.environ.get("STAGE", "data") == "data":
    if os.environ.get("SKIP_SELECT") != "1":
        for arm, (sel, rep) in ARMS.items():
            if arm not in BUILD_ONLY: continue
            args = " ".join(sel) if sel else ""; sh(f"source .venv/bin/activate && python select_frames.py --trajs trajs_{P} --out keeps2_{P} --arm {P}2_{arm} {args}", f"{R}/logs/exp2_select.log")
    procs = [subprocess.Popen(f"source .venv/bin/activate && python -u build.py --arm {P}2_{arm} --workers 10 > logs/exp2_build_{arm}.log 2>&1 && python -u cache_videos.py --arm {P}2_{arm} --procs 10 >> logs/exp2_build_{arm}.log 2>&1", shell=True, executable="/bin/bash", cwd=R, env=env) for arm in BUILD_ONLY]
    rc = [p.wait() for p in procs]; print("build rc", rc, flush=True)
    if any(rc): sys.exit(1)
    print("DATA_DONE", flush=True)
jobs = queue.Queue()
for seed in SEEDS:
    for arm, (sel, rep) in ARMS.items(): jobs.put((arm, seed, rep))
def worker(gpu):
    while True:
        try: arm, seed, rep = jobs.get_nowait()
        except queue.Empty: return
        job = f"{P}2_{arm}" + ("" if seed == 1000 else f"_s{seed}"); log = f"{R}/logs/exp2_job_{arm}_{seed}.log"; t0 = time.time()
        st = f"{STEPS:06d}"; ck = f"{R}/ckpts/{job}/checkpoints/{st}/pretrained_model/train_config.json"
        rc = 0 if os.path.exists(ck) else sh(f"bash train_aloha.sh {gpu} {P}2_{arm} {STEPS} 10000 {seed}", log)
        if rc == 0:
            if not os.path.exists(f"{R}/results/{job}_{st}_rep1_native/eval_info.json"): sh(f"EPS={EPS} bash eval_rep_aloha.sh {gpu} {job} {st} 1 {T} 400 _native", log)
            if rep > 1 and not os.path.exists(f"{R}/results/{job}_{st}_rep{rep}/eval_info.json"): sh(f"EPS={EPS} bash eval_rep_aloha.sh {gpu} {job} {st} {rep} {T}", log)
        print(f"JOB_DONE {arm} seed={seed} gpu={gpu} rc={rc} {time.time()-t0:.0f}s", flush=True)
ths = [threading.Thread(target=worker, args=(g,)) for g in GPUS]; [t.start() for t in ths]; [t.join() for t in ths]; print("EXP2_DONE", flush=True)