"""Service-owned CPU validator; JSON stdin is never accepted directly from HTTP."""

import json
import sys
from dataclasses import asdict
from pathlib import Path

ROOT = Path(__file__).resolve().parents[1]
for root in (ROOT, ROOT.parent):
    sys.path.insert(0, str(root))


def main():
    from pretrained import read_pretrained_source
    from task_config import OBSTACLE_TASK
    from src.tasks.velocity.config.go2.env_cfgs import unitree_go2_flat_env_cfg
    from src.tasks.velocity.config.go2.rl_cfg import unitree_go2_ppo_runner_cfg

    payload = json.loads(sys.stdin.read(128 * 1024))
    task_id = payload["taskId"]
    if task_id == "Unitree-Go2-Flat":
        cfg = unitree_go2_flat_env_cfg()
    elif task_id == OBSTACLE_TASK:
        from src.tasks.obstacle_avoidance.env_cfg import unitree_go2_obstacle_env_cfg, apply_obstacle_configuration
        cfg = unitree_go2_obstacle_env_cfg()
        if payload.get("taskConfig") is not None:
            apply_obstacle_configuration(cfg, payload["taskConfig"])
    else:
        raise ValueError("基础策略不兼容该任务；支持Flat47与Obstacle81/97，不支持Rough")
    directory = Path(payload["directory"])
    options = {}
    if payload.get("uploaded"):
        from pretrained_upload import read_uploaded_source
        read_pretrained_source = read_uploaded_source
        options["manifest_path"] = directory / "upload.json"
    source = read_pretrained_source(
        directory / payload["checkpoint"], allowed_roots=[directory], target_env=asdict(cfg),
        target_agent=asdict(unitree_go2_ppo_runner_cfg()), **options,
    )
    print(json.dumps(source.manifest))


if __name__ == "__main__":
    try:
        main()
    except Exception as error:
        print(f"基础策略不兼容或缺少配套文件/依赖：{error}", file=sys.stderr)
        sys.exit(1)