# ------------------------------------------------------------------------
# H-DETR
# Copyright (c) 2022 Peking University & Microsoft Research Asia. All Rights Reserved.
# Licensed under the MIT-style license found in the LICENSE file in the root directory
# ------------------------------------------------------------------------
# Deformable DETR
# Copyright (c) 2020 SenseTime. All Rights Reserved.
# Licensed under the Apache License, Version 2.0 [see LICENSE for details]
# ------------------------------------------------------------------------
# Modified from DETR (https://github.com/facebookresearch/detr)
# Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
# ------------------------------------------------------------------------

import argparse
import datetime
import json
import random
import time
import os
import torch
import datasets

import numpy as np
import util.misc as utils
import datasets.samplers as samplers

from pathlib import Path
from torch.utils.data import DataLoader
from datasets import build_dataset, get_coco_api_from_dataset
from engine import evaluate, train_one_epoch
from models import build_model


def get_args_parser():
    parser = argparse.ArgumentParser("Deformable DETR Detector", add_help=False)
    parser.add_argument("--lr", default=2e-4, type=float)
    parser.add_argument(
        "--lr_backbone_names", default=["backbone.0"], type=str, nargs="+"
    )
    parser.add_argument("--lr_backbone", default=2e-5, type=float)
    parser.add_argument(
        "--lr_linear_proj_names",
        default=["reference_points", "sampling_offsets"],
        type=str,
        nargs="+",
    )
    parser.add_argument("--lr_linear_proj_mult", default=0.1, type=float)
    parser.add_argument("--batch_size", default=2, type=int)
    parser.add_argument("--weight_decay", default=1e-4, type=float)
    parser.add_argument("--epochs", default=50, type=int)
    parser.add_argument("--lr_drop", default=40, type=int)
    parser.add_argument("--lr_drop_epochs", default=None, type=int, nargs="+")
    parser.add_argument(
        "--clip_max_norm", default=0.1, type=float, help="gradient clipping max norm"
    )

    parser.add_argument("--sgd", action="store_true")

    # Variants of Deformable DETR
    parser.add_argument("--with_box_refine", default=False, action="store_true")
    parser.add_argument("--two_stage", default=False, action="store_true")

    # Model parameters
    parser.add_argument(
        "--frozen_weights",
        type=str,
        default=None,
        help="Path to the pretrained model. If set, only the mask head will be trained",
    )

    # * Backbone
    parser.add_argument(
        "--backbone",
        default="resnet50",
        type=str,
        help="Name of the convolutional backbone to use",
    )
    parser.add_argument(
        "--dilation",
        action="store_true",
        help="If true, we replace stride with dilation in the last convolutional block (DC5)",
    )
    parser.add_argument(
        "--position_embedding",
        default="sine",
        type=str,
        choices=("sine", "learned"),
        help="Type of positional embedding to use on top of the image features",
    )
    parser.add_argument(
        "--position_embedding_scale",
        default=2 * np.pi,
        type=float,
        help="position / size * scale",
    )
    parser.add_argument(
        "--num_feature_levels", default=4, type=int, help="number of feature levels"
    )
    # swin backbone
    parser.add_argument(
        "--pretrained_backbone_path",
        default="./swin_tiny_patch4_window7_224.pkl",
        type=str,
    )
    parser.add_argument("--drop_path_rate", default=0.2, type=float)

    # * Transformer
    parser.add_argument(
        "--enc_layers",
        default=6,
        type=int,
        help="Number of encoding layers in the transformer",
    )
    parser.add_argument(
        "--dec_layers",
        default=6,
        type=int,
        help="Number of decoding layers in the transformer",
    )
    parser.add_argument(
        "--dim_feedforward",
        default=2048,
        type=int,
        help="Intermediate size of the feedforward layers in the transformer blocks",
    )
    parser.add_argument(
        "--hidden_dim",
        default=256,
        type=int,
        help="Size of the embeddings (dimension of the transformer)",
    )
    parser.add_argument(
        "--dropout", default=0.1, type=float, help="Dropout applied in the transformer"
    )
    parser.add_argument(
        "--nheads",
        default=8,
        type=int,
        help="Number of attention heads inside the transformer's attentions",
    )
    parser.add_argument(
        "--num_queries_one2one",
        default=300,
        type=int,
        help="Number of query slots for one-to-one matching",
    )
    parser.add_argument(
        "--num_queries_one2many",
        default=0,
        type=int,
        help="Number of query slots for one-to-many matchining",
    )
    parser.add_argument("--dec_n_points", default=4, type=int)
    parser.add_argument("--enc_n_points", default=4, type=int)
    # Deformable DETR tricks
    parser.add_argument("--mixed_selection", action="store_true", default=False)
    parser.add_argument("--look_forward_twice", action="store_true", default=False)
    # hybrid branch
    parser.add_argument("--k_one2many", default=5, type=int)
    parser.add_argument("--lambda_one2many", default=1.0, type=float)

    # * Segmentation
    parser.add_argument(
        "--masks",
        action="store_true",
        help="Train segmentation head if the flag is provided",
    )

    # Loss
    parser.add_argument(
        "--no_aux_loss",
        dest="aux_loss",
        action="store_false",
        help="Disables auxiliary decoding losses (loss at each layer)",
    )

    # * Matcher
    parser.add_argument(
        "--set_cost_class",
        default=2,
        type=float,
        help="Class coefficient in the matching cost",
    )
    parser.add_argument(
        "--set_cost_bbox",
        default=5,
        type=float,
        help="L1 box coefficient in the matching cost",
    )
    parser.add_argument(
        "--set_cost_giou",
        default=2,
        type=float,
        help="giou box coefficient in the matching cost",
    )

    # * Loss coefficients
    parser.add_argument("--mask_loss_coef", default=1, type=float)
    parser.add_argument("--dice_loss_coef", default=1, type=float)
    parser.add_argument("--cls_loss_coef", default=2, type=float)
    parser.add_argument("--bbox_loss_coef", default=5, type=float)
    parser.add_argument("--giou_loss_coef", default=2, type=float)
    parser.add_argument("--focal_alpha", default=0.25, type=float)

    # dataset parameters
    parser.add_argument("--dataset_file", default="coco")
    parser.add_argument("--coco_path", default="/home/datasets/COCO2017", type=str)
    parser.add_argument("--coco_panoptic_path", type=str)
    parser.add_argument("--remove_difficult", action="store_true")

    parser.add_argument(
        "--output_dir", default="./results", help="path where to save, empty for no saving"
    )
    parser.add_argument(
        "--device", default="cuda", help="device to use for training / testing"
    )
    parser.add_argument("--seed", default=42, type=int)
    parser.add_argument("--resume", default="", help="resume from checkpoint")
    parser.add_argument(
        "--start_epoch", default=0, type=int, metavar="N", help="start epoch"
    )
    parser.add_argument("--num_workers", default=2, type=int)
    parser.add_argument(
        "--cache_mode",
        default=False,
        action="store_true",
        help="whether to cache images on memory",
    )

    # * eval technologies
    parser.add_argument("--eval", action="store_true")
    # eval in training set
    parser.add_argument("--eval_in_training_set", default=False, action="store_true")
    # topk for eval
    parser.add_argument("--topk", default=100, type=int)

    # * training technologies
    parser.add_argument("--use_fp16", default=False, action="store_true")
    parser.add_argument("--use_checkpoint", default=False, action="store_true")

    # * logging technologies
    parser.add_argument("--use_wandb", action="store_true", default=False)
    return parser


def main(args):
    utils.init_distributed_mode(args)
    print("git:\n  {}\n".format(utils.get_sha()))

    if args.frozen_weights is not None:
        assert args.masks, "Frozen training is meant for segmentation only"
    print(args)

    device = torch.device(args.device)

    # fix the seed for reproducibility
    seed = args.seed + utils.get_rank()
    torch.manual_seed(seed)
    np.random.seed(seed)
    random.seed(seed)

    model, criterion, postprocessors = build_model(args)
    model.to(device)

    model_without_ddp = model
    n_parameters = sum(p.numel() for p in model.parameters() if p.requires_grad)
    print("number of params:", n_parameters)

    dataset_train = build_dataset(image_set="train", args=args)
    if not args.eval_in_training_set:
        dataset_val = build_dataset(
            image_set="val", args=args, eval_in_training_set=False,
        )
    else:
        print("eval in the training set")
        dataset_val = build_dataset(
            image_set="train", args=args, eval_in_training_set=True,
        )

    if args.distributed:
        if args.cache_mode:
            sampler_train = samplers.NodeDistributedSampler(dataset_train)
            sampler_val = samplers.NodeDistributedSampler(dataset_val, shuffle=False)
        else:
            sampler_train = samplers.DistributedSampler(dataset_train)
            sampler_val = samplers.DistributedSampler(dataset_val, shuffle=False)
    else:
        sampler_train = torch.utils.data.RandomSampler(dataset_train)
        sampler_val = torch.utils.data.SequentialSampler(dataset_val)

    batch_sampler_train = torch.utils.data.BatchSampler(
        sampler_train, args.batch_size, drop_last=True
    )

    data_loader_train = DataLoader(
        dataset_train,
        batch_sampler=batch_sampler_train,
        collate_fn=utils.collate_fn,
        num_workers=args.num_workers,
        pin_memory=True,
    )
    data_loader_val = DataLoader(
        dataset_val,
        args.batch_size,
        sampler=sampler_val,
        drop_last=False,
        collate_fn=utils.collate_fn,
        num_workers=args.num_workers,
        pin_memory=True,
    )

    # lr_backbone_names = ["backbone.0", "backbone.neck", "input_proj", "transformer.encoder"]
    def match_name_keywords(n, name_keywords):
        out = False
        for b in name_keywords:
            if b in n:
                out = True
                break
        return out

    for n, p in model_without_ddp.named_parameters():
        print(n)

    param_dicts = [
        {
            "params": [
                p
                for n, p in model_without_ddp.named_parameters()
                if not match_name_keywords(n, args.lr_backbone_names)
                and not match_name_keywords(n, args.lr_linear_proj_names)
                and p.requires_grad
            ],
            "lr": args.lr,
        },
        {
            "params": [
                p
                for n, p in model_without_ddp.named_parameters()
                if match_name_keywords(n, args.lr_backbone_names) and p.requires_grad
            ],
            "lr": args.lr_backbone,
        },
        {
            "params": [
                p
                for n, p in model_without_ddp.named_parameters()
                if match_name_keywords(n, args.lr_linear_proj_names) and p.requires_grad
            ],
            "lr": args.lr * args.lr_linear_proj_mult,
        },
    ]
    if args.sgd:
        optimizer = torch.optim.SGD(
            param_dicts, lr=args.lr, momentum=0.9, weight_decay=args.weight_decay
        )
    else:
        optimizer = torch.optim.AdamW(
            param_dicts, lr=args.lr, weight_decay=args.weight_decay
        )
    lr_scheduler = torch.optim.lr_scheduler.StepLR(optimizer, args.lr_drop)

    if args.distributed:
        model = torch.nn.parallel.DistributedDataParallel(model, device_ids=[args.gpu])
        model_without_ddp = model.module

    if args.dataset_file == "coco_panoptic":
        # We also evaluate AP during panoptic training, on original coco DS
        coco_val = datasets.coco.build("val", args)
        base_ds = get_coco_api_from_dataset(coco_val)
    else:
        base_ds = get_coco_api_from_dataset(dataset_val)

    if args.frozen_weights is not None:
        checkpoint = torch.load(args.frozen_weights, map_location="cpu")
        model_without_ddp.detr.load_state_dict(checkpoint["model"])

    output_dir = Path(args.output_dir)
    if args.resume and os.path.exists(args.resume):
        if args.resume.startswith("https"):
            checkpoint = torch.hub.load_state_dict_from_url(
                args.resume, map_location="cpu", check_hash=True
            )
        else:
            checkpoint = torch.load(args.resume, map_location="cpu")
        missing_keys, unexpected_keys = model_without_ddp.load_state_dict(
            checkpoint["model"], strict=False
        )
        unexpected_keys = [
            k
            for k in unexpected_keys
            if not (k.endswith("total_params") or k.endswith("total_ops"))
        ]
        if len(missing_keys) > 0:
            print("Missing Keys: {}".format(missing_keys))
        if len(unexpected_keys) > 0:
            print("Unexpected Keys: {}".format(unexpected_keys))
        if (
            not args.eval
            and "optimizer" in checkpoint
            and "lr_scheduler" in checkpoint
            and "epoch" in checkpoint
        ):
            import copy

            p_groups = copy.deepcopy(optimizer.param_groups)
            optimizer.load_state_dict(checkpoint["optimizer"])
            for pg, pg_old in zip(optimizer.param_groups, p_groups):
                pg["lr"] = pg_old["lr"]
                pg["initial_lr"] = pg_old["initial_lr"]
            print(optimizer.param_groups)
            lr_scheduler.load_state_dict(checkpoint["lr_scheduler"])
            # todo: this is a hack for doing experiment that resume from checkpoint and also modify lr scheduler (e.g., decrease lr in advance).
            args.override_resumed_lr_drop = True
            if args.override_resumed_lr_drop:
                print(
                    "Warning: (hack) args.override_resumed_lr_drop is set to True, so args.lr_drop would override lr_drop in resumed lr_scheduler."
                )
                lr_scheduler.step_size = args.lr_drop
                lr_scheduler.base_lrs = list(
                    map(lambda group: group["initial_lr"], optimizer.param_groups)
                )
            lr_scheduler.step(lr_scheduler.last_epoch)
            args.start_epoch = checkpoint["epoch"] + 1
        # check the resumed model
        if not args.eval:
            test_stats, coco_evaluator = evaluate(
                model,
                criterion,
                postprocessors,
                data_loader_val,
                base_ds,
                device,
                args.output_dir,
                use_wandb=args.use_wandb,
            )

    if args.eval:
        test_stats, coco_evaluator = evaluate(
            model,
            criterion,
            postprocessors,
            data_loader_val,
            base_ds,
            device,
            args.output_dir,
            use_wandb=args.use_wandb,
        )
        if args.output_dir:
            utils.save_on_master(
                coco_evaluator.coco_eval["bbox"].eval, output_dir / "eval.pth"
            )
        return

    print("Start training")
    start_time = time.time()
    for epoch in range(args.start_epoch, args.epochs):
        if args.distributed:
            sampler_train.set_epoch(epoch)
        train_stats = train_one_epoch(
            model,
            criterion,
            data_loader_train,
            optimizer,
            device,
            epoch,
            args.clip_max_norm,
            k_one2many=args.k_one2many,
            lambda_one2many=args.lambda_one2many,
            use_wandb=args.use_wandb,
            use_fp16=args.use_fp16,
        )
        lr_scheduler.step()
        if args.output_dir:
            checkpoint_paths = [output_dir / "checkpoint.pth"]
            # extra checkpoint before LR drop and every 5 epochs
            checkpoint_paths.append(output_dir / f"checkpoint{epoch:04}.pth")
            for checkpoint_path in checkpoint_paths:
                utils.save_on_master(
                    {
                        "model": model_without_ddp.state_dict(),
                        "optimizer": optimizer.state_dict(),
                        "lr_scheduler": lr_scheduler.state_dict(),
                        "epoch": epoch,
                        "args": args,
                    },
                    checkpoint_path,
                )

        test_stats, coco_evaluator = evaluate(
            model,
            criterion,
            postprocessors,
            data_loader_val,
            base_ds,
            device,
            args.output_dir,
            use_wandb=args.use_wandb,
        )

        log_stats = {
            **{f"train_{k}": v for k, v in train_stats.items()},
            **{f"test_{k}": v for k, v in test_stats.items()},
            "epoch": epoch,
            "n_parameters": n_parameters,
        }

        if args.output_dir and utils.is_main_process():
            with (output_dir / "log.txt").open("a") as f:
                f.write(json.dumps(log_stats) + "\n")

            # for evaluation logs
            if coco_evaluator is not None:
                (output_dir / "eval").mkdir(exist_ok=True)
                if "bbox" in coco_evaluator.coco_eval:
                    filenames = ["latest.pth"]
                    if epoch % 50 == 0:
                        filenames.append(f"{epoch:03}.pth")
                    for name in filenames:
                        torch.save(
                            coco_evaluator.coco_eval["bbox"].eval,
                            output_dir / "eval" / name,
                        )

    total_time = time.time() - start_time
    total_time_str = str(datetime.timedelta(seconds=int(total_time)))
    print("Training time {}".format(total_time_str))


if __name__ == "__main__":
    parser = argparse.ArgumentParser(
        "Deformable DETR training and evaluation script", parents=[get_args_parser()]
    )
    args = parser.parse_args()
    if args.output_dir:
        Path(args.output_dir).mkdir(parents=True, exist_ok=True)
    main(args)