#!/bin/bash

# 自动执行所有场景的所有case
# 总共5个场景，每个场景4个case，共20个case
# 设置环境变量（离线模式）
export HF_HUB_OFFLINE=1
export TRANSFORMERS_OFFLINE=1

# 颜色定义
RED='\033[0;31m'
GREEN='\033[0;32m'
YELLOW='\033[1;33m'
BLUE='\033[0;34m'
NC='\033[0m' # No Color

# 定义所有场景
SCENARIOS=(
    "unitree_g1_pack_camera"
    "unitree_z1_dual_arm_cleanup_pencils"
    "unitree_z1_dual_arm_stackbox"
    "unitree_z1_dual_arm_stackbox_v2"
    "unitree_z1_stackbox"
)

# 定义case数量
CASES=(1 2 3 4)

# 记录开始时间
START_TIME=$(date +%s)
LOG_FILE="run_all_cases_$(date +%Y%m%d_%H%M%S).log"

echo -e "${BLUE}========================================${NC}"
echo -e "${BLUE}开始执行所有场景的case${NC}"
echo -e "${BLUE}总共: ${#SCENARIOS[@]} 个场景 x ${#CASES[@]} 个case = $((${#SCENARIOS[@]} * ${#CASES[@]})) 个任务${NC}"
echo -e "${BLUE}日志文件: ${LOG_FILE}${NC}"
echo -e "${BLUE}========================================${NC}"
echo ""

# 初始化计数器
TOTAL_CASES=$((${#SCENARIOS[@]} * ${#CASES[@]}))
CURRENT_CASE=0
SUCCESS_COUNT=0
FAIL_COUNT=0

# 记录失败的case
declare -a FAILED_CASES

# 遍历所有场景
for scenario in "${SCENARIOS[@]}"; do
    echo -e "${YELLOW}>>> 场景: ${scenario}${NC}"

    # 遍历所有case
    for case_num in "${CASES[@]}"; do
        CURRENT_CASE=$((CURRENT_CASE + 1))
        case_dir="${scenario}/case${case_num}"
        script_path="${case_dir}/run_world_model_interaction.sh"

        echo -e "${BLUE}[${CURRENT_CASE}/${TOTAL_CASES}] 执行: ${case_dir}${NC}"

        # 检查脚本是否存在
        if [ ! -f "${script_path}" ]; then
            echo -e "${RED}错误: 脚本不存在 ${script_path}${NC}"
            FAIL_COUNT=$((FAIL_COUNT + 1))
            FAILED_CASES+=("${case_dir} (脚本不存在)")
            continue
        fi

        # 执行脚本
        echo "开始时间: $(date '+%Y-%m-%d %H:%M:%S')"

        if bash "${script_path}" >> "${LOG_FILE}" 2>&1; then
            echo -e "${GREEN}✓ 成功: ${case_dir}${NC}"
            SUCCESS_COUNT=$((SUCCESS_COUNT + 1))
        else
            echo -e "${RED}✗ 失败: ${case_dir}${NC}"
            FAIL_COUNT=$((FAIL_COUNT + 1))
            FAILED_CASES+=("${case_dir}")
        fi

        echo "结束时间: $(date '+%Y-%m-%d %H:%M:%S')"
        echo ""
    done

    echo ""
done

# 计算总耗时
END_TIME=$(date +%s)
DURATION=$((END_TIME - START_TIME))
HOURS=$((DURATION / 3600))
MINUTES=$(((DURATION % 3600) / 60))
SECONDS=$((DURATION % 60))

# 输出总结
echo -e "${BLUE}========================================${NC}"
echo -e "${BLUE}执行完成！${NC}"
echo -e "${BLUE}========================================${NC}"
echo -e "总任务数: ${TOTAL_CASES}"
echo -e "${GREEN}成功: ${SUCCESS_COUNT}${NC}"
echo -e "${RED}失败: ${FAIL_COUNT}${NC}"
echo -e "总耗时: ${HOURS}小时 ${MINUTES}分钟 ${SECONDS}秒"
echo -e "详细日志: ${LOG_FILE}"
echo ""

# 如果有失败的case，列出来
if [ ${FAIL_COUNT} -gt 0 ]; then
    echo -e "${RED}失败的case列表:${NC}"
    for failed_case in "${FAILED_CASES[@]}"; do
        echo -e "${RED}  - ${failed_case}${NC}"
    done
    echo ""
fi

echo -e "${BLUE}========================================${NC}"