#!/usr/bin/env bash
set -e

# ==============================================================================
# FlyGuard: Bionic Obstacle Detection Core (LCT-2026, Case 05)
# Hesai Pandar128 LiDAR (128 beams, 10 Hz / 100ms)
# Universal Entrypoint: NVIDIA GPU Acceleration (CUDA 12.x) with CPU Fallback
# ==============================================================================

print_banner() {
    echo "============================================================================"
    echo "  FlyGuard · Блиц-обнаружение препятствий в тоннеле метро (Кейс 05, ЛЦТ-2026)"
    echo "  Hesai Pandar128 (128 лучей, 10 Гц / 100 мс) · NVIDIA CUDA 12 / CPU Fallback"
    echo "============================================================================"
}

print_device_info() {
    python3 -c "
try:
    import flyguard.device as dev
    info = dev.get_device_info()
    if info['cuda_available']:
        print(f'==> [HARDWARE] NVIDIA GPU: {info[\"device_name\"]} (Compute {info[\"compute_capability\"]}, {info[\"total_memory_gb\"]} GB VRAM)')
        print(f'==> [ACCELERATION] CUDA 12: АКТИВНО (PyTorch {info[\"torch_version\"]})')
    else:
        print('==> [HARDWARE] CPU Mode: CUDA недоступна или не передана в контейнер.')
        print('==> [FALLBACK] Активирован автоматический Graceful Fallback на CPU.')
except Exception as e:
    print(f'==> Проверка окружения: {e}')
"
}

CMD="${1:-default}"

case "$CMD" in
    default|run)
        print_banner
        print_device_info
        DATA_DIR="${FLYGUARD_DATA:-/data}"
        FOUND_BAG=$(find "$DATA_DIR" -name '*.db3' 2>/dev/null | head -n 1 || true)
        if [ -d "$DATA_DIR" ] && [ -n "$FOUND_BAG" ]; then
            echo "==> Обнаружены бэги лидара в $DATA_DIR. Запуск конвейера FlyGuard по всем записям..."
            exec python3 tools/run_pipeline.py --all \
                --memory artifacts/mushroom_body.npz \
                --readout artifacts/mbon_readout.npz \
                --device auto \
                --verbose
        else
            echo "==> В $DATA_DIR не найдены файлы .db3 (датасет не смонтирован через -v /путь/к/data:/data)."
            echo "==> Выполняется системный прогон верификационных тестов и роутинга..."
            exec python3 tests/run_tests.py
        fi
        ;;
    pipeline|run-pipeline)
        shift
        print_banner
        print_device_info
        exec python3 tools/run_pipeline.py \
            --memory artifacts/mushroom_body.npz \
            --readout artifacts/mbon_readout.npz \
            --device auto "$@"
        ;;
    benchmark|make-benchmark)
        shift
        print_banner
        print_device_info
        exec python3 tools/make_benchmark.py \
            --memory artifacts/mushroom_body.npz \
            --mbon-dir artifacts/mbon_folds \
            --device auto "$@"
        ;;
    evaluate)
        shift
        print_banner
        print_device_info
        exec python3 tools/evaluate.py \
            --mbon-dir artifacts/mbon_folds \
            --device auto "$@"
        ;;
    train-mbon)
        shift
        print_banner
        print_device_info
        exec python3 tools/train_mbon.py \
            --device auto "$@"
        ;;
    train-track)
        shift
        print_banner
        print_device_info
        exec python3 tools/train_track.py \
            --device auto "$@"
        ;;
    test|tests|run-tests)
        shift
        print_banner
        print_device_info
        exec python3 tests/run_tests.py "$@"
        ;;
    pytest)
        shift
        exec pytest tests "$@"
        ;;
    info|device|gpu|gpu-info)
        print_banner
        python3 -c "
import json
import flyguard.device as dev
print(json.dumps(dev.get_device_info(), indent=2, ensure_ascii=False))
"
        ;;
    bash|sh)
        shift
        exec /bin/bash "$@"
        ;;
    *)
        exec "$@"
        ;;
esac