#!/usr/bin/env bash
set -euo pipefail
# 外部必须导出：
# INPUT_ROOT  WORKFLOW_ID  SUB_DIR  OUTPUT_ROOT

INPUT_ROOT="${INPUT_ROOT}/${WORKFLOW_ID}"
INPUT_DIR="${INPUT_ROOT}/${SUB_DIR}"          # 实际指向 bagdir_splits 上一级
OUTPUT_DIR="${OUTPUT_ROOT}"                   # 通常就是 /nas_perception/.../output/wfxxx

log(){
  echo "[$(date '+%F %T')] [$$] $*"
}

#----------------------------------------------------------
# 统一封装：目录同步 / 文件拷贝
#----------------------------------------------------------
sync_dir(){
  local srcDir="$1" dstDir="$2"
  if [[ -d ${srcDir} ]]; then
    log "  + $(basename "${srcDir}")/"
    mkdir -p "${dstDir}"
    rsync -a --delete "${srcDir}/" "${dstDir}/"
  fi
}

sync_file(){
  local srcFile="$1" dstDir="$2"
  if [[ -f ${srcFile} ]]; then
    log "  + $(basename "${srcFile}")"
    mkdir -p "${dstDir}"
    cp -p "${srcFile}" "${dstDir}/"
  fi
}

#----------------------------------------------------------
# 主逻辑
#----------------------------------------------------------
log "Script started"
log "INPUT_DIR  = ${INPUT_DIR}"
log "OUTPUT_DIR = ${OUTPUT_DIR}"

[[ -d ${INPUT_DIR} ]] || { log "ERROR: INPUT_DIR not found: ${INPUT_DIR}"; exit 1; }

while IFS= read -r -d '' src; do
    # 去掉 split_N 层级，得到纯 bag.dir 名
    rel="${src#${INPUT_DIR}/*/}"
    dest="${OUTPUT_DIR}/${rel}/derived/${SUB_DIR}"
    mkdir -p "${dest}"

    basename_bag=$(basename "$src")               # xxx.bag.dir
    pkgname="${basename_bag%.bag.dir}"            # xxx
    split_name=$(basename "$(dirname "$src")")    # split_0 / split_1 / ...
    truth_root="${INPUT_DIR}/${split_name}"

    log "==================== Processing ${pkgname} ==================="

    # 1. 老 object 重命名同步
    sync_dir "${src}/object_det_ep20" "${dest}/object_det_al"
    sync_dir "${src}/object_tracking" "${dest}/object_tracking_al"

    # 2. 目录类：slam + lidar_gt + 新增 6 目录
    for item in slam_lidar_ground slam_lidar_none_ground \
                lidar_gt_pandar128_5f_front lidar_gt_pandar128_5f_rear \
                object_det_ep20_lrgt_front object_det_ep20_lrgt_rear \
                object_lrgt_filter object_postprocess; do
        sync_dir "${src}/${item}" "${dest}/${item}"
    done

    # 3. 文件类
    for item in bev_image_ground.png ego_motion_slam_lidar.csv; do
        sync_file "${src}/${item}" "${dest}"
    done

    # 4. osm & split_json（源在 OUTPUT_ROOT/SUB_DIR/split_N/）
    osm_src="${truth_root}/osm_out/${pkgname}.osm"
    if [[ -f ${osm_src} ]]; then
        log "  + ${pkgname}.osm  ->  input bag.dir"
        cp -p "${osm_src}" "${src}/"
        log "  + ${pkgname}.osm  ->  output"
        cp -p "${src}/${pkgname}.osm" "${dest}/"
    fi

    split_src="${truth_root}/split_json/${pkgname}"
    if [[ -d ${split_src} ]]; then
        log "  + split_json/  ->  input bag.dir"
        rsync -a --delete "${split_src}/" "${src}/split_json/"
        log "  + split_json/  ->  output"
        sync_dir "${src}/split_json" "${dest}/split_json"
    fi

    # 5. 2dseg and occ
    sync_dir "${src}/${SUB_DIR}" "${dest}"

done < <(find "${INPUT_DIR}" -mindepth 2 -maxdepth 2 -type d -name '*.bag.dir' -print0)

log "============================================================"
log "All done, success!"