#!/usr/bin/env bash

set -uo pipefail

repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
cd "${repo_root}"

gpu_devices="${CUDA_VISIBLE_DEVICES:-1}"
python_bin="${PYTHON_BIN:-}"

if [[ -z "${python_bin}" ]]; then
    if [[ -n "${CONDA_PREFIX:-}" ]] && [[ -x "${CONDA_PREFIX}/bin/python" ]]; then
        python_bin="${CONDA_PREFIX}/bin/python"
    elif [[ -n "${VIRTUAL_ENV:-}" ]] && [[ -x "${VIRTUAL_ENV}/bin/python" ]]; then
        python_bin="${VIRTUAL_ENV}/bin/python"
    else
        python_bin="$(command -v python || true)"
    fi
fi

if [[ -z "${python_bin}" ]] || [[ ! -x "${python_bin}" ]]; then
    echo "Unable to resolve a usable Python interpreter. Set PYTHON_BIN explicitly." >&2
    exit 1
fi

case_scripts=(
    "unitree_z1_dual_arm_stackbox/case3/run_world_model_backbone_profile.sh"
    "unitree_z1_dual_arm_stackbox_v2/case3/run_world_model_backbone_profile.sh"
    "unitree_z1_dual_arm_cleanup_pencils/case3/run_world_model_backbone_profile.sh"
    "unitree_g1_pack_camera/case3/run_world_model_backbone_profile.sh"
)

failed_cases=()

for case_script in "${case_scripts[@]}"; do
    echo "============================================================"
    echo "Running ${case_script} on GPU ${gpu_devices}"
    echo "============================================================"
    echo "Using Python: ${python_bin}"
    if ! CUDA_VISIBLE_DEVICES="${gpu_devices}" PYTHON_BIN="${python_bin}" bash "${repo_root}/${case_script}"; then
        echo "FAILED: ${case_script}" >&2
        failed_cases+=("${case_script}")
    fi
done

if [[ ${#failed_cases[@]} -gt 0 ]]; then
    echo "============================================================" >&2
    echo "Backbone profiling finished with failures:" >&2
    for case_script in "${failed_cases[@]}"; do
        echo "  - ${case_script}" >&2
    done
    exit 1
fi