#!/usr/bin/env python

# Copyright 2024 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.

from pathlib import Path

import pytest

from lerobot.common.datasets.factory import make_dataset
from lerobot.common.logger import Logger
from lerobot.common.policies.factory import make_policy
from lerobot.common.utils.utils import init_hydra_config
from lerobot.scripts.visualize_dataset_html import visualize_dataset_html
from tests.utils import DEFAULT_CONFIG_PATH


@pytest.mark.parametrize(
    "repo_id",
    ["lerobot/pusht"],
)
def test_visualize_dataset_html(tmpdir, repo_id):
    tmpdir = Path(tmpdir)
    visualize_dataset_html(
        repo_id,
        episodes=[0],
        output_dir=tmpdir,
        serve=False,
    )
    assert (tmpdir / "static" / "episode_0.csv").exists()


@pytest.mark.parametrize(
    "repo_id, policy_method",
    [
        ("lerobot/pusht", "select_action"),
        ("lerobot/pusht", "forward"),
    ],
)
def test_visualize_dataset_policy_ckpt_path(tmpdir, repo_id, policy_method):
    tmpdir = Path(tmpdir)

    # Create a policy
    cfg = init_hydra_config(DEFAULT_CONFIG_PATH, overrides=["device=cpu"])
    dataset = make_dataset(cfg)
    policy = make_policy(cfg, dataset_stats=dataset.stats)

    # Save a checkpoint
    logger = Logger(cfg, tmpdir)
    logger.save_model(tmpdir, policy)

    visualize_dataset_html(
        repo_id,
        episodes=[0],
        output_dir=tmpdir,
        serve=False,
        pretrained_policy_name_or_path=tmpdir,
        policy_method=policy_method,
    )
    assert (tmpdir / "static" / "episode_0.csv").exists()
    assert (tmpdir / "episode_0.safetensors").exists()