#!/usr/bin/env python3
# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
# ------------------------------------------------------------------------------------------------
# Deformable DETR
# Copyright (c) 2020 SenseTime. All Rights Reserved.
# Licensed under the Apache License, Version 2.0 [see LICENSE for details]
# ------------------------------------------------------------------------------------------------
# Modified from https://github.com/chengdazhi/Deformable-Convolution-V2-PyTorch/tree/pytorch_1.0.0
# ------------------------------------------------------------------------------------------------

from __future__ import absolute_import
from __future__ import division
from __future__ import print_function

import torch
import torch.nn.functional as F
from detr import _C as MSDA
from torch.autograd import Function
from torch.autograd.function import once_differentiable
from torch.cuda.amp.autocast_mode import custom_bwd, custom_fwd


class MSDeformAttnFunction(Function):

    # The @custom_fwd and @custom_bwd decorators are used in this case to allow enabling of
    # Automatic Mixed Precision when we do not have implementations of custom CUDA kernels for
    # all the precision types.
    #
    # TODO: After implementing `ms_deform_attn` CUDA kernels for FP16, we can remove the
    # custom_fwd and custom_bwd decorators

    @staticmethod
    @custom_fwd(cast_inputs=torch.float32)
    def forward(
        ctx,
        value,
        value_spatial_shapes,
        value_level_start_index,
        sampling_locations,
        attention_weights,
        im2col_step,
    ):
        ctx.im2col_step = im2col_step
        output = MSDA.ms_deform_attn_forward(
            value,
            value_spatial_shapes,
            value_level_start_index,
            sampling_locations,
            attention_weights,
            ctx.im2col_step,
        )
        ctx.save_for_backward(
            value,
            value_spatial_shapes,
            value_level_start_index,
            sampling_locations,
            attention_weights,
        )
        return output

    @staticmethod
    @once_differentiable
    @custom_bwd
    def backward(ctx, grad_output):
        (
            value,
            value_spatial_shapes,
            value_level_start_index,
            sampling_locations,
            attention_weights,
        ) = ctx.saved_tensors
        grad_value, grad_sampling_loc, grad_attn_weight = MSDA.ms_deform_attn_backward(
            value,
            value_spatial_shapes,
            value_level_start_index,
            sampling_locations,
            attention_weights,
            grad_output,
            ctx.im2col_step,
        )

        return grad_value, None, None, grad_sampling_loc, grad_attn_weight, None


def ms_deform_attn_core_pytorch(
    value, value_spatial_shapes, sampling_locations, attention_weights
):
    # for debug and test only,
    # need to use cuda version instead
    # value shape (N, K, num_heads, channels_per_head)
    N_, S_, M_, D_ = value.shape
    # sampling_locations shape (N, len_q, num_heads, num_levels, num_points, 2)
    _, Lq_, M_, L_, P_, _ = sampling_locations.shape
    # a list of num_level tensors. Each has shape (N, H_l*W_l, num_heads, channels_per_head)
    value_list = value.split([H_ * W_ for H_, W_ in value_spatial_shapes], dim=1)
    sampling_grids = 2 * sampling_locations - 1
    sampling_value_list = []
    for lid_, (H_, W_) in enumerate(value_spatial_shapes):
        # N_, H_*W_, M_, D_ -> N_, H_*W_, M_*D_ -> N_, M_*D_, H_*W_ -> N_*M_, D_, H_, W_
        value_l_ = (
            value_list[lid_].flatten(2).transpose(1, 2).reshape(N_ * M_, D_, H_, W_)
        )
        # N_, Lq_, M_, P_, 2 -> N_, M_, Lq_, P_, 2 -> N_*M_, Lq_, P_, 2
        sampling_grid_l_ = sampling_grids[:, :, :, lid_].transpose(1, 2).flatten(0, 1)
        # N_*M_, D_, Lq_, P_
        sampling_value_l_ = F.grid_sample(
            value_l_,
            sampling_grid_l_,
            mode="bilinear",
            padding_mode="zeros",
            align_corners=False,
        )
        sampling_value_list.append(sampling_value_l_)
    # (N_, Lq_, M_, L_, P_) -> (N_, M_, Lq_, L_, P_) -> (N_, M_, 1, Lq_, L_*P_)
    attention_weights = attention_weights.transpose(1, 2).reshape(
        N_ * M_, 1, Lq_, L_ * P_
    )
    output = (
        (torch.stack(sampling_value_list, dim=-2).flatten(-2) * attention_weights)
        .sum(-1)
        .view(N_, M_ * D_, Lq_)
    )
    return output.transpose(1, 2).contiguous()
