# !/usr/bin/env python

# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import logging
import time

from lerobot.common.control_utils import init_keyboard_listener, predict_action
from lerobot.datasets import LeRobotDataset
from lerobot.policies import make_pre_post_processors
from lerobot.policies.act import ACTPolicy
from lerobot.policies.utils import make_robot_action
from lerobot.processor import make_default_processors
from lerobot.robots.lekiwi import LeKiwiClient, LeKiwiClientConfig
from lerobot.utils.constants import ACTION, OBS_STR
from lerobot.utils.feature_utils import build_dataset_frame, hw_to_dataset_features
from lerobot.utils.robot_utils import precise_sleep
from lerobot.utils.utils import log_say
from lerobot.utils.visualization_utils import init_rerun, log_rerun_data

NUM_EPISODES = 2
FPS = 30
EPISODE_TIME_SEC = 60
TASK_DESCRIPTION = "My task description"
HF_MODEL_ID = "<hf_username>/<model_repo_id>"
HF_DATASET_ID = "<hf_username>/<eval_dataset_repo_id>"


def main():
    # NOTE: For production policy deployment, use `lerobot-rollout` CLI instead.
    # This script provides a self-contained example for educational purposes.

    # Create the robot configuration & robot
    robot_config = LeKiwiClientConfig(remote_ip="172.18.134.136", id="lekiwi")

    robot = LeKiwiClient(robot_config)

    # Create policy
    policy = ACTPolicy.from_pretrained(HF_MODEL_ID)

    # Configure the dataset features
    action_features = hw_to_dataset_features(robot.action_features, ACTION)
    obs_features = hw_to_dataset_features(robot.observation_features, OBS_STR)
    dataset_features = {**action_features, **obs_features}

    # Create the dataset
    dataset = LeRobotDataset.create(
        repo_id=HF_DATASET_ID,
        fps=FPS,
        features=dataset_features,
        robot_type=robot.name,
        use_videos=True,
        image_writer_threads=4,
    )

    # Build Policy Processors
    preprocessor, postprocessor = make_pre_post_processors(
        policy_cfg=policy,
        pretrained_path=HF_MODEL_ID,
        dataset_stats=dataset.meta.stats,
        # The inference device is automatically set to match the detected hardware, overriding any previous device settings from training to ensure compatibility.
        preprocessor_overrides={"device_processor": {"device": str(policy.config.device)}},
    )

    # Connect the robot
    # To connect you already should have this script running on LeKiwi: `python -m lerobot.robots.lekiwi.lekiwi_host --robot.id=my_awesome_kiwi`
    robot.connect()

    # TODO(Steven): Update this example to use pipelines
    teleop_action_processor, robot_action_processor, robot_observation_processor = make_default_processors()

    # Initialize the keyboard listener and rerun visualization
    listener, events = init_keyboard_listener()
    init_rerun(session_name="lekiwi_evaluate")

    try:
        if not robot.is_connected:
            raise ValueError("Robot is not connected!")

        print("Starting evaluate loop...")
        control_interval = 1 / FPS
        recorded_episodes = 0
        while recorded_episodes < NUM_EPISODES and not events["stop_recording"]:
            log_say(f"Running inference, recording eval episode {recorded_episodes} of {NUM_EPISODES}")

            # Inline evaluation loop: predict actions and send to robot
            timestamp = 0
            start_episode_t = time.perf_counter()
            while timestamp < EPISODE_TIME_SEC:
                start_loop_t = time.perf_counter()

                if events["exit_early"]:
                    events["exit_early"] = False
                    break

                # Get robot observation
                obs = robot.get_observation()
                obs_processed = robot_observation_processor(obs)
                observation_frame = build_dataset_frame(dataset.features, obs_processed, prefix=OBS_STR)

                # Predict action using the policy
                action_tensor = predict_action(
                    observation=observation_frame,
                    policy=policy,
                    device=policy.config.device,
                    preprocessor=preprocessor,
                    postprocessor=postprocessor,
                    use_amp=policy.config.device.type == "cuda",
                    task=TASK_DESCRIPTION,
                    robot_type=robot.name,
                )

                # Convert policy output to robot action dict
                action_values = make_robot_action(action_tensor, dataset.features)

                # Process and send action to robot
                robot_action_to_send = robot_action_processor((action_values, obs))
                robot.send_action(robot_action_to_send)

                # Write to dataset
                action_frame = build_dataset_frame(dataset.features, action_values, prefix=ACTION)
                frame = {**observation_frame, **action_frame, "task": TASK_DESCRIPTION}
                dataset.add_frame(frame)

                log_rerun_data(observation=obs_processed, action=action_values)

                dt_s = time.perf_counter() - start_loop_t
                sleep_time_s = control_interval - dt_s
                if sleep_time_s < 0:
                    logging.warning(
                        f"Evaluate loop is running slower ({1 / dt_s:.1f} Hz) than the target FPS ({FPS} Hz)."
                    )
                precise_sleep(max(sleep_time_s, 0.0))
                timestamp = time.perf_counter() - start_episode_t

            # Reset the environment if not stopping or re-recording
            if not events["stop_recording"] and (
                (recorded_episodes < NUM_EPISODES - 1) or events["rerecord_episode"]
            ):
                log_say("Reset the environment")
                log_say("Waiting for environment reset, press right arrow key when ready...")

            if events["rerecord_episode"]:
                log_say("Re-record episode")
                events["rerecord_episode"] = False
                events["exit_early"] = False
                dataset.clear_episode_buffer()
                continue

            # Save episode
            dataset.save_episode()
            recorded_episodes += 1

    finally:
        # Clean up
        log_say("Stop recording")
        robot.disconnect()
        listener.stop()

        dataset.finalize()
        dataset.push_to_hub()


if __name__ == "__main__":
    main()