#!/bin/bash

echo "========================================================================"
echo "Phase 4A: BEV 2x训练启动"
echo "========================================================================"
echo "配置: BEV分辨率0.15m (2倍提升)"
echo "Decoder: 4层完整版 [256, 256, 128, 128]"
echo "基础模型: epoch_23.pth"
echo "目标: 20 epochs"
echo "========================================================================"

# 1. 检查checkpoint
if [ ! -f "runs/enhanced_from_epoch19/epoch_23.pth" ]; then
    echo "❌ 错误: epoch_23.pth不存在!"
    exit 1
fi
echo "✅ Checkpoint存在: epoch_23.pth"

# 2. 检查配置文件
CONFIG="configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/multitask_BEV2X_phase4a.yaml"
if [ ! -f "$CONFIG" ]; then
    echo "❌ 错误: 配置文件不存在!"
    exit 1
fi
echo "✅ 配置文件存在"

# 3. 创建运行目录
mkdir -p runs/phase4a_bev2x
echo "✅ 运行目录创建"

# 4. 检查GPU
echo ""
echo "GPU状态:"
nvidia-smi --query-gpu=index,name,memory.total,memory.free --format=csv,noheader
echo ""

# 5. 确认启动
echo "========================================================================"
echo "即将启动训练，配置信息:"
echo "  - GPU数量: 6"
echo "  - Batch size: 1 per GPU"
echo "  - Workers: 0"
echo "  - 学习率: 2e-5"
echo "  - Epochs: 20"
echo "  - 预计时间: ~12.5天"
echo "  - 预计显存: ~28-29GB/GPU"
echo "========================================================================"
echo ""

read -p "确认启动? (y/n) " -n 1 -r
echo
if [[ ! $REPLY =~ ^[Yy]$ ]]; then
    echo "取消启动"
    exit 0
fi

# 6. 启动训练
echo ""
echo "🚀 启动训练..."
echo ""

nohup torchpack dist-run -np 6 python tools/train.py \
    configs/nuscenes/det/transfusion/secfpn/camera+lidar/swint_v0p075/multitask_BEV2X_phase4a.yaml \
    --model.encoders.camera.backbone.init_cfg.checkpoint=pretrained/swint-nuimages-pretrained.pth \
    --load_from runs/enhanced_from_epoch19/epoch_23.pth \
    --run-dir runs/phase4a_bev2x \
    > phase4a_bev2x.log 2>&1 &

TRAIN_PID=$!

echo "✅ 训练已启动"
echo ""
echo "========================================================================"
echo "训练信息:"
echo "  PID: $TRAIN_PID"
echo "  日志: phase4a_bev2x.log"
echo "  输出: runs/phase4a_bev2x/"
echo ""
echo "监控命令:"
echo "  实时日志: tail -f phase4a_bev2x.log"
echo "  GPU状态: watch -n 60 nvidia-smi"
echo "  训练进度: watch -n 300 'tail -30 phase4a_bev2x.log | grep Epoch'"
echo ""
echo "检查命令:"
echo "  检查进程: ps aux | grep $TRAIN_PID"
echo "  检查checkpoint: ls -lh runs/phase4a_bev2x/*.pth"
echo "========================================================================"
echo ""
echo "Phase 4A训练已开始，预计2025年11月11日完成"
echo ""