#!/usr/bin/env bash
set -euo pipefail

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

RESULTS_ROOT=${RESULTS_ROOT:-/data1/dongying/Mono3d/G1Q3/feishu_project/inference_issue_data}
PYTHON_BIN=${PYTHON_BIN:-/deeplearning_team/ydong/dongying/miniconda/envs/dev/bin/python}
TRACKING_LAUNCHER=${TRACKING_LAUNCHER:-"${PROJECT_ROOT}/tools/temporal_analysis/track_objects_exported_onnx_infer_case.sh"}
ISSUE_CONVERT_SCRIPT=${ISSUE_CONVERT_SCRIPT:-"${PROJECT_ROOT}/tools/feishu_project/run_issue_data_convert_tracking.sh"}
ISSUE_VISUALIZE_SCRIPT=${ISSUE_VISUALIZE_SCRIPT:-"${PROJECT_ROOT}/tools/feishu_project/run_issue_data_visualize_tracking.sh"}
ISSUE_TEMPORAL_SCRIPT=${ISSUE_TEMPORAL_SCRIPT:-"${PROJECT_ROOT}/tools/feishu_project/run_issue_data_temporal_observe.sh"}
TRACK_CLASSES=${TRACK_CLASSES:-0 1 2 3 4 5 6 7 8 9 10 11 12 17 18 19}
IOU_THRESH=${IOU_THRESH:-0.3}
MAX_AGE=${MAX_AGE:-5}
MIN_HITS=${MIN_HITS:-1}
DIST_THRESH=${DIST_THRESH:-100}
MAX_3D_DISTANCE=${MAX_3D_DISTANCE:-10.0}
MAX_FRAMES=${MAX_FRAMES:-}
MERGE_OUTPUT_NAME=${MERGE_OUTPUT_NAME:-combined_tracking.json}
FILE_PATTERN=${FILE_PATTERN:-*.json}
ENABLE_USE_3D=${ENABLE_USE_3D:-0}
ENABLE_CONVERT=${ENABLE_CONVERT:-0}
ENABLE_VISUALIZE=${ENABLE_VISUALIZE:-1}
ENABLE_TEMPORAL_ANALYSIS=${ENABLE_TEMPORAL_ANALYSIS:-0}
CONVERT_OUTPUT_DIR_NAME=${CONVERT_OUTPUT_DIR_NAME:-objectlist}
CONVERT_TRACKING_JSON_NAME=${CONVERT_TRACKING_JSON_NAME:-merge.json}
CONVERT_CAM_ID=${CONVERT_CAM_ID:-}
VIS_DOWNLOAD_ROOT=${VIS_DOWNLOAD_ROOT:-/data1/dongying/Mono3d/G1Q3/feishu_project/downloaded_issue_data}
VIS_OUTPUT_ROOT=${VIS_OUTPUT_ROOT:-}
VIS_OUTPUT_DIR_NAME=${VIS_OUTPUT_DIR_NAME:-tracking_vis_raw}
VIS_TRACKING_JSON_NAME=${VIS_TRACKING_JSON_NAME:-merge.json}
VIS_MAX_FRAMES=${VIS_MAX_FRAMES:-}
VIS_CLASS_ID=${VIS_CLASS_ID:-}
VIS_TRACK_IDS=${VIS_TRACK_IDS:-}
VIS_SHOW_TRAJECTORY=${VIS_SHOW_TRAJECTORY:-0}
TEMPORAL_OUTPUT_ROOT=${TEMPORAL_OUTPUT_ROOT:-}
TEMPORAL_OUTPUT_DIR_NAME=${TEMPORAL_OUTPUT_DIR_NAME:-temporal_observation}
TEMPORAL_JSON_NAME=${TEMPORAL_JSON_NAME:-merge.json}
TEMPORAL_MIN_LENGTH=${TEMPORAL_MIN_LENGTH:-3}
TEMPORAL_TRACK_IDS=${TEMPORAL_TRACK_IDS:-}
TEMPORAL_CLASS_ID=${TEMPORAL_CLASS_ID:-}
TEMPORAL_FRAME_ID_START=${TEMPORAL_FRAME_ID_START:-}
TEMPORAL_FRAME_ID_END=${TEMPORAL_FRAME_ID_END:-}
TEMPORAL_PLOTS=${TEMPORAL_PLOTS:-0}
TEMPORAL_EXPORT_SERIES=${TEMPORAL_EXPORT_SERIES:-1}
TEMPORAL_FOCUS_TRACK_PLOTS=${TEMPORAL_FOCUS_TRACK_PLOTS:-1}
TEMPORAL_PREFER_EGO=${TEMPORAL_PREFER_EGO:-1}
TEMPORAL_X_AXIS=${TEMPORAL_X_AXIS:-frame_id}
TEMPORAL_HEADING_SOURCE=${TEMPORAL_HEADING_SOURCE:-camera_reg}
TRACKING_MODEL_VERSION=${TRACKING_MODEL_VERSION:-20260416}

TARGET_PATH=${TARGET_PATH:-}
ISSUE_IDS=()

while (($# > 0)); do
  case "$1" in
    --issue-id)
      if (($# < 2)); then
        echo "Error: --issue-id requires a value" >&2
        exit 1
      fi
      ISSUE_IDS+=("$2")
      shift 2
      ;;
    --issue-id=*)
      ISSUE_IDS+=("${1#*=}")
      shift
      ;;
    -*)
      echo "Error: unsupported option: $1" >&2
      exit 1
      ;;
    *)
      if [[ -n "${TARGET_PATH}" ]]; then
        echo "Error: multiple target paths provided: ${TARGET_PATH} and $1" >&2
        exit 1
      fi
      TARGET_PATH="$1"
      shift
      ;;
  esac
done

if [[ -z "${TARGET_PATH}" ]]; then
  TARGET_PATH="${RESULTS_ROOT}"
fi

if [[ ! -d "${TARGET_PATH}" ]]; then
  echo "Error: target directory does not exist: ${TARGET_PATH}" >&2
  exit 1
fi

run_tracking_wrapper() {
  local target_path="$1"

  echo ""
  echo "######################################################################"
  echo "# Feishu issue-data tracking"
  echo "######################################################################"
  echo "Target path: ${target_path}"
  if [[ -n "${TRACKING_MODEL_VERSION}" ]]; then
    echo "Model version: ${TRACKING_MODEL_VERSION}"
  fi

  if [[ -n "${TRACKING_MODEL_VERSION}" ]]; then
    MODEL_VERSION="${TRACKING_MODEL_VERSION}" \
      PYTHON_BIN="${PYTHON_BIN}" \
      RESULTS_ROOT="${target_path}" \
      TRACK_CLASSES="${TRACK_CLASSES}" \
      IOU_THRESH="${IOU_THRESH}" \
      MAX_AGE="${MAX_AGE}" \
      MIN_HITS="${MIN_HITS}" \
      DIST_THRESH="${DIST_THRESH}" \
      MAX_3D_DISTANCE="${MAX_3D_DISTANCE}" \
      MAX_FRAMES="${MAX_FRAMES}" \
      MERGE_OUTPUT_NAME="${MERGE_OUTPUT_NAME}" \
      FILE_PATTERN="${FILE_PATTERN}" \
      ENABLE_USE_3D="${ENABLE_USE_3D}" \
      bash "${TRACKING_LAUNCHER}" "${target_path}"
    return
  fi

  PYTHON_BIN="${PYTHON_BIN}" \
    RESULTS_ROOT="${target_path}" \
    TRACK_CLASSES="${TRACK_CLASSES}" \
    IOU_THRESH="${IOU_THRESH}" \
    MAX_AGE="${MAX_AGE}" \
    MIN_HITS="${MIN_HITS}" \
    DIST_THRESH="${DIST_THRESH}" \
    MAX_3D_DISTANCE="${MAX_3D_DISTANCE}" \
    MAX_FRAMES="${MAX_FRAMES}" \
    MERGE_OUTPUT_NAME="${MERGE_OUTPUT_NAME}" \
    FILE_PATTERN="${FILE_PATTERN}" \
    ENABLE_USE_3D="${ENABLE_USE_3D}" \
    bash "${TRACKING_LAUNCHER}" "${target_path}"
}

run_conversion_wrapper() {
  local target_path="$1"
  local convert_args=("${target_path}")

  for issue_id in "${ISSUE_IDS[@]}"; do
    convert_args+=(--issue-id "${issue_id}")
  done

  echo ""
  echo "######################################################################"
  echo "# Feishu issue-data protocol conversion"
  echo "######################################################################"
  echo "Target path      : ${target_path}"
  echo "Tracking JSON    : ${CONVERT_TRACKING_JSON_NAME}"
  echo "Output dir name  : ${CONVERT_OUTPUT_DIR_NAME}"

  if [[ -n "${CONVERT_CAM_ID}" ]]; then
    echo "Camera ID override: ${CONVERT_CAM_ID}"
  fi

  PYTHON_BIN="${PYTHON_BIN}" \
    RESULTS_ROOT="${RESULTS_ROOT}" \
    OUTPUT_DIR_NAME="${CONVERT_OUTPUT_DIR_NAME}" \
    MERGE_JSON_NAME="${CONVERT_TRACKING_JSON_NAME}" \
    CAM_ID="${CONVERT_CAM_ID}" \
    bash "${ISSUE_CONVERT_SCRIPT}" "${convert_args[@]}"
}

run_visualization_wrapper() {
  local target_path="$1"
  local visualize_args=("${target_path}")

  for issue_id in "${ISSUE_IDS[@]}"; do
    visualize_args+=(--issue-id "${issue_id}")
  done

  echo ""
  echo "######################################################################"
  echo "# Feishu issue-data raw-image visualization"
  echo "######################################################################"
  echo "Target path    : ${target_path}"
  echo "Download root  : ${VIS_DOWNLOAD_ROOT}"
  if [[ -n "${VIS_OUTPUT_ROOT}" ]]; then
    echo "Output root    : ${VIS_OUTPUT_ROOT}"
  else
    echo "Output dir name: ${VIS_OUTPUT_DIR_NAME}"
  fi

  PYTHON_BIN="${PYTHON_BIN}" \
    RESULTS_ROOT="${RESULTS_ROOT}" \
    DOWNLOAD_ROOT="${VIS_DOWNLOAD_ROOT}" \
    OUTPUT_ROOT="${VIS_OUTPUT_ROOT}" \
    OUTPUT_DIR_NAME="${VIS_OUTPUT_DIR_NAME}" \
    TRACKING_JSON_NAME="${VIS_TRACKING_JSON_NAME}" \
    VIS_MAX_FRAMES="${VIS_MAX_FRAMES}" \
    VIS_CLASS_ID="${VIS_CLASS_ID}" \
    VIS_TRACK_IDS="${VIS_TRACK_IDS}" \
    VIS_SHOW_TRAJECTORY="${VIS_SHOW_TRAJECTORY}" \
    bash "${ISSUE_VISUALIZE_SCRIPT}" "${visualize_args[@]}"
}

run_temporal_wrapper() {
  local target_path="$1"
  local temporal_args=("${target_path}")

  for issue_id in "${ISSUE_IDS[@]}"; do
    temporal_args+=(--issue-id "${issue_id}")
  done

  if [[ -n "${TEMPORAL_CLASS_ID}" ]]; then
    temporal_args+=(--class-id "${TEMPORAL_CLASS_ID}")
  fi

  if [[ -n "${TEMPORAL_FRAME_ID_START}" ]]; then
    temporal_args+=(--frame-id-start "${TEMPORAL_FRAME_ID_START}")
  fi

  if [[ -n "${TEMPORAL_FRAME_ID_END}" ]]; then
    temporal_args+=(--frame-id-end "${TEMPORAL_FRAME_ID_END}")
  fi

  if [[ -n "${TEMPORAL_TRACK_IDS}" ]]; then
    # shellcheck disable=SC2206
    local temporal_track_id_arr=(${TEMPORAL_TRACK_IDS})
    for track_id in "${temporal_track_id_arr[@]}"; do
      temporal_args+=(--track-id "${track_id}")
    done
  fi

  echo ""
  echo "######################################################################"
  echo "# Feishu issue-data temporal observation"
  echo "######################################################################"
  echo "Target path    : ${target_path}"
  if [[ -n "${TEMPORAL_CLASS_ID}" ]]; then
    echo "Class ID       : ${TEMPORAL_CLASS_ID}"
  fi
  if [[ -n "${TEMPORAL_TRACK_IDS}" ]]; then
    echo "Track IDs      : ${TEMPORAL_TRACK_IDS}"
  fi
  if [[ -n "${TEMPORAL_FRAME_ID_START}" || -n "${TEMPORAL_FRAME_ID_END}" ]]; then
    echo "Frame ID Range : [${TEMPORAL_FRAME_ID_START:-"-inf"}, ${TEMPORAL_FRAME_ID_END:-"+inf"}]"
  fi
  echo "Heading Source : ${TEMPORAL_HEADING_SOURCE}"

  PYTHON_BIN="${PYTHON_BIN}" \
    RESULTS_ROOT="${RESULTS_ROOT}" \
    OUTPUT_ROOT="${TEMPORAL_OUTPUT_ROOT}" \
    OUTPUT_DIR_NAME="${TEMPORAL_OUTPUT_DIR_NAME}" \
    TRACKING_JSON_NAME="${TEMPORAL_JSON_NAME}" \
    TEMPORAL_MIN_LENGTH="${TEMPORAL_MIN_LENGTH}" \
    TEMPORAL_CLASS_ID="${TEMPORAL_CLASS_ID}" \
    TEMPORAL_TRACK_IDS="${TEMPORAL_TRACK_IDS}" \
    TEMPORAL_FRAME_ID_START="${TEMPORAL_FRAME_ID_START}" \
    TEMPORAL_FRAME_ID_END="${TEMPORAL_FRAME_ID_END}" \
    TEMPORAL_PLOTS="${TEMPORAL_PLOTS}" \
    TEMPORAL_EXPORT_SERIES="${TEMPORAL_EXPORT_SERIES}" \
    TEMPORAL_FOCUS_TRACK_PLOTS="${TEMPORAL_FOCUS_TRACK_PLOTS}" \
    TEMPORAL_PREFER_EGO="${TEMPORAL_PREFER_EGO}" \
    TEMPORAL_X_AXIS="${TEMPORAL_X_AXIS}" \
    TEMPORAL_HEADING_SOURCE="${TEMPORAL_HEADING_SOURCE}" \
    bash "${ISSUE_TEMPORAL_SCRIPT}" "${temporal_args[@]}"
}

if [[ "${#ISSUE_IDS[@]}" -eq 0 ]]; then
  run_tracking_wrapper "${TARGET_PATH}"
  workflow_failed=0
  if [[ "${ENABLE_VISUALIZE}" == "1" ]]; then
    if ! run_visualization_wrapper "${TARGET_PATH}"; then
      workflow_failed=1
    fi
  fi
  if [[ "${ENABLE_TEMPORAL_ANALYSIS}" == "1" ]]; then
    if ! run_temporal_wrapper "${TARGET_PATH}"; then
      workflow_failed=1
    fi
  fi
  if [[ "${ENABLE_CONVERT}" == "1" ]]; then
    if ! run_conversion_wrapper "${TARGET_PATH}"; then
      workflow_failed=1
    fi
  fi
  [[ "${workflow_failed}" -eq 0 ]]
  exit 0
fi

total_issues=0
success_issues=0
failed_issues=0

for issue_index in "${!ISSUE_IDS[@]}"; do
  issue_id="${ISSUE_IDS[issue_index]}"
  issue_root="${TARGET_PATH}/issue_${issue_id}"
  ((total_issues += 1))

  echo ""
  printf '[TRACKING][%d/%d] issue_%s\n' \
    "$((issue_index + 1))" "${#ISSUE_IDS[@]}" "${issue_id}"

  if [[ ! -d "${issue_root}" ]]; then
    echo "[FAIL] issue_${issue_id}: not found under ${TARGET_PATH}" >&2
    ((failed_issues += 1))
    continue
  fi

  if run_tracking_wrapper "${issue_root}"; then
    ((success_issues += 1))
  else
    ((failed_issues += 1))
    echo "[FAIL] issue_${issue_id}: tracking failed" >&2
  fi
done

echo ""
printf '[DONE] issues=%d success=%d failed=%d\n' \
  "${total_issues}" "${success_issues}" "${failed_issues}"

workflow_failed=0
if [[ "${ENABLE_VISUALIZE}" == "1" ]]; then
  if [[ "${failed_issues}" -ne 0 ]]; then
    echo "Skipping visualization because some tracking jobs failed" >&2
  else
    if ! run_visualization_wrapper "${TARGET_PATH}"; then
      workflow_failed=1
    fi
  fi
fi

if [[ "${ENABLE_TEMPORAL_ANALYSIS}" == "1" ]]; then
  if [[ "${failed_issues}" -ne 0 ]]; then
    echo "Skipping temporal observation because some tracking jobs failed" >&2
  else
    if ! run_temporal_wrapper "${TARGET_PATH}"; then
      workflow_failed=1
    fi
  fi
fi

if [[ "${ENABLE_CONVERT}" == "1" ]]; then
  if [[ "${failed_issues}" -ne 0 ]]; then
    echo "Skipping protocol conversion because some tracking jobs failed" >&2
  else
    if ! run_conversion_wrapper "${TARGET_PATH}"; then
      workflow_failed=1
    fi
  fi
fi

[[ "${failed_issues}" -eq 0 && "${workflow_failed}" -eq 0 ]]