#!/bin/bash
#SBATCH --job-name=collect_1024_0
#SBATCH --partition=day
#SBATCH -o data/carla_leaderboard2_py123d/stdout/1024_0.log
#SBATCH -e data/carla_leaderboard2_py123d/stderr/1024_0.log
#SBATCH --nodes=1
#SBATCH --ntasks-per-node=1
#SBATCH --cpus-per-task=2
#SBATCH --mem=40gb
#SBATCH --time=0-03:00:00
#SBATCH --gres=gpu:1080ti:1

echo "SLURMD_NODENAME: $SLURMD_NODENAME"
echo "SLURM_JOB_ID: $SLURM_JOB_ID"
echo "SLURM_JOB_NODELIST: $SLURM_JOB_NODELIST"
scontrol show job $SLURM_JOB_ID


export FREE_STREAMING_PORT=$(random_free_port.sh)
export FREE_WORLD_PORT=$(random_free_port.sh)
export TM_PORT=$(random_free_port.sh)

sleep 2

echo "start python"
which python
which python3
pwd

export SCENARIO_RUNNER_ROOT=/mnt/beegfs/home/nguyen/lead/3rd_party/scenario_runner_autopilot
export LEADERBOARD_ROOT=/mnt/beegfs/home/nguyen/lead/3rd_party/leaderboard_autopilot

# carla
export CARLA_ROOT=/mnt/beegfs/home/nguyen/lead/3rd_party/CARLA_0915
export CARLA_SERVER=/mnt/beegfs/home/nguyen/lead/3rd_party/CARLA_0915/CarlaUE4.sh
export PYTHONPATH=/mnt/beegfs/home/nguyen/lead/3rd_party/CARLA_0915/PythonAPI/carla:$PYTHONPATH
export PYTHONPATH=3rd_party/leaderboard_autopilot:$PYTHONPATH
export PYTHONPATH=3rd_party/scenario_runner_autopilot:$PYTHONPATH
export REPETITIONS=1
export DEBUG_CHALLENGE=0
export TEAM_AGENT=/mnt/beegfs/home/nguyen/lead/lead/expert/expert_py123d.py
export CHALLENGE_TRACK_CODENAME=MAP
export ROUTES=data/data_routes/50x36_Town13/PriorityAtJunction/1024_0.xml
export TOWN=Town13
export REPETITION=0
export TM_SEED=588
export SCENARIO_NAME=PriorityAtJunction

export CHECKPOINT_ENDPOINT=/mnt/beegfs/home/nguyen/lead/data/carla_leaderboard2_py123d/results/PriorityAtJunction/1024_0_result.json
export TEAM_CONFIG=data/data_routes/50x36_Town13/PriorityAtJunction/1024_0.xml
export RESUME=1
export DATAGEN=1
export SAVE_PATH=/mnt/beegfs/home/nguyen/lead/data/carla_leaderboard2_py123d/data/PriorityAtJunction

echo "Start python"

echo "FREE_STREAMING_PORT: $FREE_STREAMING_PORT"
echo "FREE_WORLD_PORT: $FREE_WORLD_PORT"
echo "TM_PORT: $TM_PORT"

bash /mnt/beegfs/home/nguyen/lead/3rd_party/CARLA_0915/CarlaUE4.sh     --world-port=$FREE_WORLD_PORT     -RenderOffScreen     -nosound     -graphicsadapter=0     -carla-streaming-port=$FREE_STREAMING_PORT &

sleep 180

eval "$(conda shell.bash hook)"
if [ -z "$CONDA_INTERPRETER" ]; then
    export CONDA_INTERPRETER="lead" # Check if CONDA_INTERPRETER is not set, then set it to lead
fi
source activate "$CONDA_INTERPRETER"
which python3

export PY123D_DATA_ROOT="data/carla_leaderboard2_py123d/"
export LEAD_EXPERT_CONFIG="target_dataset=6 py123d_data_format=true use_radars=false lidar_stack_size=2 save_only_non_ground_lidar=false save_lidar_only_inside_bev=false"

python 3rd_party/leaderboard_autopilot/leaderboard/leaderboard_evaluator_local.py     --port=${FREE_WORLD_PORT}     --traffic-manager-port=${TM_PORT}     --traffic-manager-seed=${TM_SEED}     --routes=${ROUTES}     --repetitions=${REPETITIONS}     --track=${CHALLENGE_TRACK_CODENAME}     --checkpoint=${CHECKPOINT_ENDPOINT}     --agent=${TEAM_AGENT}     --agent-config=${TEAM_CONFIG}     --debug=0     --resume=${RESUME}     --timeout=600