VERSION := 20251229-release
REMOTE_VERSION := v1.1.0
PROXY := http://192.168.16.68:18000
REMOTE_REPO := ccr-29eug8s3-pub.cnc.bj.baidubce.com/public
CUDA_DEVICES := 0

# Default target
.PHONY: all
all: help

.PHONY: build
build: build-merge build-train build-infer build-visualize
	
.PHONY: publish
push: build push-merge push-train push-infer push-visualize clean

.PHONY: merge	train infer visualize
merge: build-merge run-merge
train: build-train run-train
infer: build-infer run-infer
visualize: build-visualize run-visualize

# --- Merge Image ---
.PHONY: build-merge run-merge push-merge
build-merge:
	docker build -t dcloud/lerobot-merge:$(VERSION) -f docker/Dockerfile.merge . --build-arg https_proxy=$(PROXY)

run-merge:
	docker run -it --rm \
		-v $(CURDIR)/datasets:/workspace/embolab/inputs \
		-v $(CURDIR)/docker/inputs:/workspace/embolab/outputs \
		-v $(CURDIR)/docker/merge_task.json:/workspace/embolab/params/build_task.json \
		-e HF_HUB_OFFLINE=1 -e HF_DATASET_OFFLINE=1 \
		--shm-size=120G \
		dcloud/lerobot-merge:$(VERSION)

push-merge:
	docker tag dcloud/lerobot-merge:$(VERSION) $(REMOTE_REPO)/lerobot-merge:$(REMOTE_VERSION)
	docker push $(REMOTE_REPO)/lerobot-merge:$(REMOTE_VERSION)

# --- Training Image ---
.PHONY: build-train run-train push-train
build-train:
	docker build -t dcloud/lerobot-train:$(VERSION) -f docker/Dockerfile.train . --build-arg https_proxy=$(PROXY)

run-train:
	docker run -it --rm --gpus '"device=$(CUDA_DEVICES)"' \
		-v $(CURDIR)/docker/inputs:/workspace/embolab/inputs \
		-v $(CURDIR)/docker/outputs:/workspace/embolab/outputs/ \
		-v $(CURDIR)/docker/train_task.json:/workspace/embolab/params/build_task.json \
		-e HF_HUB_OFFLINE=1 -e HF_DATASET_OFFLINE=1 \
		--shm-size=120G \
		dcloud/lerobot-train:$(VERSION)

push-train:
	docker tag dcloud/lerobot-train:$(VERSION) $(REMOTE_REPO)/lerobot-train:$(REMOTE_VERSION)
	docker push $(REMOTE_REPO)/lerobot-train:$(REMOTE_VERSION)

# --- Online Inference Image ---
.PHONY: build-infer run-infer push-infer
build-infer:
	docker build -t dcloud/lerobot-infer:$(VERSION) -f docker/Dockerfile.infer . --build-arg https_proxy=$(PROXY)

run-infer:
	docker run -it --rm --gpus '"device=$(CUDA_DEVICES)"' \
		-v $(CURDIR)/docker/outputs:/workspace/embolab/outputs \
		-v $(CURDIR)/docker/infer_task.json:/workspace/embolab/params/build_task.json \
		-e HF_HUB_OFFLINE=1 -e HF_DATASET_OFFLINE=1 \
		--shm-size=128G \
		dcloud/lerobot-infer:$(VERSION)

push-infer:
	docker tag dcloud/lerobot-infer:$(VERSION) $(REMOTE_REPO)/lerobot-infer:$(REMOTE_VERSION)
	docker push $(REMOTE_REPO)/lerobot-infer:$(REMOTE_VERSION)

# --- Visualize Image ---
.PHONY: build-visualize run-visualize push-visualize
build-visualize:
	docker build -t dcloud/lerobot-visualize:$(VERSION) -f docker/Dockerfile.visualize . --build-arg https_proxy=$(PROXY)

run-visualize:
	docker run -it --rm \
		-v $(CURDIR)/datasets:/workspace/embolab/datasets \
		-e HF_HUB_OFFLINE=1 -e HF_DATASET_OFFLINE=1 \
		-p 29876:9876 \
		--shm-size=120G \
		dcloud/lerobot-visualize:$(VERSION)

push-visualize:
	docker tag dcloud/lerobot-visualize:$(VERSION) $(REMOTE_REPO)/lerobot-visualize:$(REMOTE_VERSION)
	docker push $(REMOTE_REPO)/lerobot-visualize:$(REMOTE_VERSION)

# --- Cleanup ---
.PHONY: clean
clean:
	-docker images -f "dangling=true" -q | xargs -r docker rmi
	-docker images | grep lerobot | grep -v $(VERSION) | awk '{print $$1":"$$2}' | xargs -r docker rmi

# --- Help ---
.PHONY: help
help:
	@echo "Available commands:"
	@echo "  make build            Build all Docker images"
	@echo "  make push             Push all Docker images to remote repository"
	@echo "  make merge            Build and run the merge image"
	@echo "  make train            Build and run the training image"
	@echo "  make infer            Build and run the inference image"
	@echo "  make visualize        Build and run the visualization image"
	@echo "  make clean            Clean up dangling Docker images"