Makefile

export PYTHONPATH=$(shell pwd)

.PHONY: help install setup-mise setup-env collect-data train eval clean format lint test gpu-info

# Colors
RED := \033[0;31m
GREEN := \033[0;32m
YELLOW := \033[1;33m
BLUE := \033[0;34m
NC := \033[0m

help: ## Show this help message
	@printf "${BLUE}ACT Robot Manipulation Project${NC}\n"
	@printf "${YELLOW}Available commands:${NC}\n"
	@awk 'BEGIN {FS = ":.*?## "} /^[a-zA-Z_-]+:.*?## / {printf "  ${GREEN}%-20s${NC} %s\n", $$1, $$2}' $(MAKEFILE_LIST)

# =============================================================================
# ENVIRONMENT SETUP
# =============================================================================

setup-mise: ## Install mise and set up tool versions
	@printf "${BLUE}Setting up mise...${NC}\n"
	@if ! command -v mise &> /dev/null; then \
		curl https://mise.run | sh; \
		echo 'eval "$$(mise activate bash)"' >> ~/.bashrc; \
	fi
	@mise install
	@mise use python@3.12
	@printf "${GREEN}✓ Mise setup complete${NC}\n"

install: setup-mise ## Install all dependencies
	@printf "${BLUE}Installing dependencies...${NC}\n"
	@python -m pip install --upgrade pip
	@pip install -r requirements/base.txt
	@pip install -r requirements/dev.txt
	@$(MAKE) install-gpu-deps
	@pre-commit install || true
	@printf "${GREEN}✓ Installation complete${NC}\n"

install-gpu-deps: ## Install GPU-specific dependencies
	@printf "${BLUE}Detecting GPU and installing dependencies...${NC}\n"
	@python -c "import src.utils.gpu_utils; src.utils.gpu_utils.install_gpu_dependencies()"

setup-env: ## Set up environment variables
	@if [ ! -f .env ]; then \
		cp .env.example .env; \
		printf "${YELLOW}Created .env file. Please edit with your settings.${NC}\n"; \
	fi

# =============================================================================
# DATA & TRAINING
# =============================================================================

collect-data: ## Run interactive data collection
	@printf "${BLUE}Starting data collection...${NC}\n"
	@printf "${YELLOW}Press keys in terminal to control robot${NC}\n"
	@python -m src.collect_data

train: ## Train ACT policy
	@printf "${BLUE}Starting training...${NC}\n"
	@python -m src.train_act
	@printf "${GREEN}✓ Training complete!${NC}\n"

eval: ## Evaluate trained policy
	@printf "${BLUE}Running evaluation...${NC}\n"
	@python -m src.eval
	@printf "${GREEN}✓ Evaluation complete! Check outputs/videos/${NC}\n"

# =============================================================================
# CODE QUALITY
# =============================================================================

format: ## Format code with black and ruff
	@printf "${BLUE}Formatting code...${NC}\n"
	@black src/ tests/
	@ruff check src/ tests/ --fix
	@printf "${GREEN}✓ Code formatted${NC}\n"

lint: ## Lint code with ruff
	@printf "${BLUE}Linting code...${NC}\n"
	@ruff check src/ tests/
	@black --check src/ tests/

test: ## Run tests
	@printf "${BLUE}Running tests...${NC}\n"
	@pytest tests/ -v --cov=src --cov-report=html --cov-report=term
	@printf "${GREEN}✓ Tests completed${NC}\n"

pre-commit: ## Run all pre-commit hooks
	@printf "${BLUE}Running pre-commit hooks...${NC}\n"
	@pre-commit run --all-files
	@printf "${GREEN}✓ Pre-commit checks passed${NC}\n"

check: format test ## Format code and run tests (pre-commit prep)
	@printf "${GREEN}✓ All checks passed - ready to commit${NC}\n"

# =============================================================================
# UTILITIES
# =============================================================================

clean: ## Clean temporary files and caches
	@printf "${BLUE}Cleaning project...${NC}\n"
	@find . -type f -name "*.pyc" -delete
	@find . -type d -name "__pycache__" -delete
	@find . -type d -name "*.egg-info" -exec rm -rf {} + || true
	@rm -rf .pytest_cache/ htmlcov/ .ruff_cache/
	@printf "${GREEN}✓ Project cleaned${NC}\n"

gpu-info: ## Display GPU information
	@python -c "import src.utils.gpu_utils; src.utils.gpu_utils.display_gpu_info()"

monitor: ## Open WandB dashboard
	@printf "${BLUE}Opening WandB dashboard...${NC}\n"
	@python -c "import webbrowser; webbrowser.open('https://wandb.ai')"

# =============================================================================
# DEVELOPMENT
# =============================================================================

dev-setup: ## Complete development environment setup
	@$(MAKE) setup-mise
	@$(MAKE) setup-env
	@$(MAKE) install
	@printf "${GREEN}✓ Development environment ready!${NC}\n"
	@printf "${YELLOW}Next steps:${NC}\n"
	@printf "  1. ${GREEN}make collect-data${NC}  - Collect demonstrations\n"
	@printf "  2. ${GREEN}make train${NC}         - Train ACT policy\n"
	@printf "  3. ${GREEN}make eval${NC}          - Evaluate and generate videos\n"

quick-test: ## Quick verification that everything works
	@printf "${BLUE}Running quick verification...${NC}\n"
	@python -c "import torch; import mujoco; print('✓ Core imports successful')"
	@python -c "from src.policies.act import ACTPolicy; print('✓ ACT policy loads')"
	@printf "${GREEN}✓ Quick test passed!${NC}\n"

test-dataset: ## Test dataset slicing capability
	@printf "${BLUE}Testing dataset slicing...${NC}\n"
	@python -m src.test_dataset
	@printf "${GREEN}✓ Test complete${NC}\n"