#!/bin/bash
# Phase 4A: BEV 2x训练 - 完整环境设置

set -e

# 设置环境变量
export PATH=/opt/conda/bin:$PATH
export LD_LIBRARY_PATH=/opt/conda/lib:$LD_LIBRARY_PATH
export PYTHONPATH=/workspace/bevfusion:$PYTHONPATH

cd /workspace/bevfusion

echo "========================================================================"
echo "Phase 4A: BEV 2x分辨率提升训练"
echo "========================================================================"
echo "配置: BEV 0.15m分辨率 (2倍提升)"
echo "Decoder: 4层完整版 [256, 256, 128, 128]"
echo "基础模型: epoch_23.pth (NDS 0.6941, mAP 0.6446)"
echo "目标: 20 epochs"
echo "========================================================================"
echo ""

# 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"

# 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"

# 创建输出目录
mkdir -p runs/phase4a_bev2x
echo "✅ 输出目录创建"

echo ""
echo "训练配置:"
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 ""

# 生成日志文件名
LOG_FILE="phase4a_bev2x.log"

echo "启动训练..."
echo "日志文件: $LOG_FILE"
echo ""

# 启动训练
nohup torchpack dist-run -np 6 python tools/train.py \
    $CONFIG \
    --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 \
    > $LOG_FILE 2>&1 &

TRAIN_PID=$!

echo "✅ 训练已启动"
echo ""
echo "========================================================================"
echo "训练信息:"
echo "  PID: $TRAIN_PID"
echo "  日志: $LOG_FILE"
echo "  输出: runs/phase4a_bev2x/"
echo ""
echo "监控命令:"
echo "  实时日志: tail -f $LOG_FILE"
echo "  训练进度: bash monitor_phase4a.sh"
echo "  GPU状态: nvidia-smi"
echo ""
echo "预计完成: 2025年11月12日"
echo "========================================================================"
echo ""

# 等待3秒后检查
sleep 3
if ps -p $TRAIN_PID > /dev/null; then
    echo "✅ 训练进程运行中 (PID: $TRAIN_PID)"
else
    echo "⚠️  训练进程未运行，请检查日志"
    tail -20 $LOG_FILE
fi