# Copyright 2023 The TensorFlow Authors. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
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"""DETR detection task definition."""
from typing import Optional

from absl import logging
import tensorflow as tf

from official.common import dataset_fn
from official.core import base_task
from official.core import task_factory
from official.projects.detr.configs import detr as detr_cfg
from official.projects.detr.dataloaders import coco
from official.projects.detr.dataloaders import detr_input
from official.projects.detr.modeling import detr
from official.projects.detr.ops import matchers
from official.vision.dataloaders import input_reader_factory
from official.vision.dataloaders import tf_example_decoder
from official.vision.dataloaders import tfds_factory
from official.vision.dataloaders import tf_example_label_map_decoder
from official.vision.evaluation import coco_evaluator
from official.vision.modeling import backbones
from official.vision.ops import box_ops


@task_factory.register_task_cls(detr_cfg.DetrTask)
class DetectionTask(base_task.Task):
  """A single-replica view of training procedure.

  DETR task provides artifacts for training/evalution procedures, including
  loading/iterating over Datasets, initializing the model, calculating the loss,
  post-processing, and customized metrics with reduction.
  """

  def build_model(self):
    """Build DETR model."""

    input_specs = tf.keras.layers.InputSpec(shape=[None] +
                                            self._task_config.model.input_size)

    backbone = backbones.factory.build_backbone(
        input_specs=input_specs,
        backbone_config=self._task_config.model.backbone,
        norm_activation_config=self._task_config.model.norm_activation)

    model = detr.DETR(backbone,
                      self._task_config.model.backbone_endpoint_name,
                      self._task_config.model.num_queries,
                      self._task_config.model.hidden_size,
                      self._task_config.model.num_classes,
                      self._task_config.model.num_encoder_layers,
                      self._task_config.model.num_decoder_layers)
    return model

  def initialize(self, model: tf.keras.Model):
    """Loading pretrained checkpoint."""
    if not self._task_config.init_checkpoint:
      return

    ckpt_dir_or_file = self._task_config.init_checkpoint

    # Restoring checkpoint.
    if tf.io.gfile.isdir(ckpt_dir_or_file):
      ckpt_dir_or_file = tf.train.latest_checkpoint(ckpt_dir_or_file)

    if self._task_config.init_checkpoint_modules == 'all':
      ckpt = tf.train.Checkpoint(**model.checkpoint_items)
      status = ckpt.restore(ckpt_dir_or_file)
      status.assert_consumed()
    elif self._task_config.init_checkpoint_modules == 'backbone':
      ckpt = tf.train.Checkpoint(backbone=model.backbone)
      status = ckpt.restore(ckpt_dir_or_file)
      status.expect_partial().assert_existing_objects_matched()

    logging.info('Finished loading pretrained checkpoint from %s',
                 ckpt_dir_or_file)

  def build_inputs(self,
                   params,
                   input_context: Optional[tf.distribute.InputContext] = None):
    """Build input dataset."""
    if isinstance(params, coco.COCODataConfig):
      dataset = coco.COCODataLoader(params).load(input_context)
    else:
      if params.tfds_name:
        decoder = tfds_factory.get_detection_decoder(params.tfds_name)
      else:
        decoder_cfg = params.decoder.get()
        if params.decoder.type == 'simple_decoder':
          decoder = tf_example_decoder.TfExampleDecoder(
              regenerate_source_id=decoder_cfg.regenerate_source_id)
        elif params.decoder.type == 'label_map_decoder':
          decoder = tf_example_label_map_decoder.TfExampleDecoderLabelMap(
              label_map=decoder_cfg.label_map,
              regenerate_source_id=decoder_cfg.regenerate_source_id)
        else:
          raise ValueError('Unknown decoder type: {}!'.format(
              params.decoder.type))

      parser = detr_input.Parser(
          class_offset=self._task_config.losses.class_offset,
          output_size=self._task_config.model.input_size[:2],
      )

      reader = input_reader_factory.input_reader_generator(
          params,
          dataset_fn=dataset_fn.pick_dataset_fn(params.file_type),
          decoder_fn=decoder.decode,
          parser_fn=parser.parse_fn(params.is_training))
      dataset = reader.read(input_context=input_context)

    return dataset

  def _compute_cost(self, cls_outputs, box_outputs, cls_targets, box_targets):
    # Approximate classification cost with 1 - prob[target class].
    # The 1 is a constant that doesn't change the matching, it can be ommitted.
    # background: 0
    cls_cost = self._task_config.losses.lambda_cls * tf.gather(
        -tf.nn.softmax(cls_outputs), cls_targets, batch_dims=1, axis=-1)

    # Compute the L1 cost between boxes,
    paired_differences = self._task_config.losses.lambda_box * tf.abs(
        tf.expand_dims(box_outputs, 2) - tf.expand_dims(box_targets, 1))
    box_cost = tf.reduce_sum(paired_differences, axis=-1)

    # Compute the giou cost betwen boxes
    giou_cost = self._task_config.losses.lambda_giou * -box_ops.bbox_generalized_overlap(
        box_ops.cycxhw_to_yxyx(box_outputs),
        box_ops.cycxhw_to_yxyx(box_targets))

    total_cost = cls_cost + box_cost + giou_cost

    max_cost = (
        self._task_config.losses.lambda_cls * 0.0 +
        self._task_config.losses.lambda_box * 4. +
        self._task_config.losses.lambda_giou * 0.0)

    # Set pads to large constant
    valid = tf.expand_dims(
        tf.cast(tf.not_equal(cls_targets, 0), dtype=total_cost.dtype), axis=1)
    total_cost = (1 - valid) * max_cost + valid * total_cost

    # Set inf of nan to large constant
    total_cost = tf.where(
        tf.logical_or(tf.math.is_nan(total_cost), tf.math.is_inf(total_cost)),
        max_cost * tf.ones_like(total_cost, dtype=total_cost.dtype),
        total_cost)

    return total_cost

  def build_losses(self, outputs, labels, aux_losses=None):
    """Builds DETR losses."""
    cls_outputs = outputs['cls_outputs']
    box_outputs = outputs['box_outputs']
    cls_targets = labels['classes']
    box_targets = labels['boxes']

    cost = self._compute_cost(
        cls_outputs, box_outputs, cls_targets, box_targets)

    _, indices = matchers.hungarian_matching(cost)
    indices = tf.stop_gradient(indices)

    target_index = tf.math.argmax(indices, axis=1)
    cls_assigned = tf.gather(cls_outputs, target_index, batch_dims=1, axis=1)
    box_assigned = tf.gather(box_outputs, target_index, batch_dims=1, axis=1)

    background = tf.equal(cls_targets, 0)
    num_boxes = tf.reduce_sum(
        tf.cast(tf.logical_not(background), tf.float32), axis=-1)

    # Down-weight background to account for class imbalance.
    xentropy = tf.nn.sparse_softmax_cross_entropy_with_logits(
        labels=cls_targets, logits=cls_assigned)
    cls_loss = self._task_config.losses.lambda_cls * tf.where(
        background, self._task_config.losses.background_cls_weight * xentropy,
        xentropy)
    cls_weights = tf.where(
        background,
        self._task_config.losses.background_cls_weight * tf.ones_like(cls_loss),
        tf.ones_like(cls_loss))

    # Box loss is only calculated on non-background class.
    l_1 = tf.reduce_sum(tf.abs(box_assigned - box_targets), axis=-1)
    box_loss = self._task_config.losses.lambda_box * tf.where(
        background, tf.zeros_like(l_1), l_1)

    # Giou loss is only calculated on non-background class.
    giou = tf.linalg.diag_part(1.0 - box_ops.bbox_generalized_overlap(
        box_ops.cycxhw_to_yxyx(box_assigned),
        box_ops.cycxhw_to_yxyx(box_targets)
        ))
    giou_loss = self._task_config.losses.lambda_giou * tf.where(
        background, tf.zeros_like(giou), giou)

    # Consider doing all reduce once in train_step to speed up.
    num_boxes_per_replica = tf.reduce_sum(num_boxes)
    cls_weights_per_replica = tf.reduce_sum(cls_weights)
    replica_context = tf.distribute.get_replica_context()
    num_boxes_sum, cls_weights_sum = replica_context.all_reduce(
        tf.distribute.ReduceOp.SUM,
        [num_boxes_per_replica, cls_weights_per_replica])
    cls_loss = tf.math.divide_no_nan(
        tf.reduce_sum(cls_loss), cls_weights_sum)
    box_loss = tf.math.divide_no_nan(
        tf.reduce_sum(box_loss), num_boxes_sum)
    giou_loss = tf.math.divide_no_nan(
        tf.reduce_sum(giou_loss), num_boxes_sum)

    aux_losses = tf.add_n(aux_losses) if aux_losses else 0.0

    total_loss = cls_loss + box_loss + giou_loss + aux_losses
    return total_loss, cls_loss, box_loss, giou_loss

  def build_metrics(self, training=True):
    """Builds detection metrics."""
    metrics = []
    metric_names = ['cls_loss', 'box_loss', 'giou_loss']
    for name in metric_names:
      metrics.append(tf.keras.metrics.Mean(name, dtype=tf.float32))

    if not training:
      self.coco_metric = coco_evaluator.COCOEvaluator(
          annotation_file=self._task_config.annotation_file,
          include_mask=False,
          need_rescale_bboxes=True,
          per_category_metrics=self._task_config.per_category_metrics)
    return metrics

  def train_step(self, inputs, model, optimizer, metrics=None):
    """Does forward and backward.

    Args:
      inputs: a dictionary of input tensors.
      model: the model, forward pass definition.
      optimizer: the optimizer for this training step.
      metrics: a nested structure of metrics objects.

    Returns:
      A dictionary of logs.
    """
    features, labels = inputs
    with tf.GradientTape() as tape:
      outputs = model(features, training=True)

      loss = 0.0
      cls_loss = 0.0
      box_loss = 0.0
      giou_loss = 0.0

      for output in outputs:
        # Computes per-replica loss.
        layer_loss, layer_cls_loss, layer_box_loss, layer_giou_loss = self.build_losses(
            outputs=output, labels=labels, aux_losses=model.losses)
        loss += layer_loss
        cls_loss += layer_cls_loss
        box_loss += layer_box_loss
        giou_loss += layer_giou_loss

      # Consider moving scaling logic from build_losses to here.
      scaled_loss = loss
      # For mixed_precision policy, when LossScaleOptimizer is used, loss is
      # scaled for numerical stability.
      if isinstance(optimizer, tf.keras.mixed_precision.LossScaleOptimizer):
        scaled_loss = optimizer.get_scaled_loss(scaled_loss)

    tvars = model.trainable_variables
    grads = tape.gradient(scaled_loss, tvars)
    # Scales back gradient when LossScaleOptimizer is used.
    if isinstance(optimizer, tf.keras.mixed_precision.LossScaleOptimizer):
      grads = optimizer.get_unscaled_gradients(grads)
    optimizer.apply_gradients(list(zip(grads, tvars)))

    # Multiply for logging.
    # Since we expect the gradient replica sum to happen in the optimizer,
    # the loss is scaled with global num_boxes and weights.
    # To have it more interpretable/comparable we scale it back when logging.
    num_replicas_in_sync = tf.distribute.get_strategy().num_replicas_in_sync
    loss *= num_replicas_in_sync
    cls_loss *= num_replicas_in_sync
    box_loss *= num_replicas_in_sync
    giou_loss *= num_replicas_in_sync

    # Trainer class handles loss metric for you.
    logs = {self.loss: loss}

    all_losses = {
        'cls_loss': cls_loss,
        'box_loss': box_loss,
        'giou_loss': giou_loss,
    }

    # Metric results will be added to logs for you.
    if metrics:
      for m in metrics:
        m.update_state(all_losses[m.name])
    return logs

  def validation_step(self, inputs, model, metrics=None):
    """Validatation step.

    Args:
      inputs: a dictionary of input tensors.
      model: the keras.Model.
      metrics: a nested structure of metrics objects.

    Returns:
      A dictionary of logs.
    """
    features, labels = inputs

    outputs = model(features, training=False)[-1]
    loss, cls_loss, box_loss, giou_loss = self.build_losses(
        outputs=outputs, labels=labels, aux_losses=model.losses)

    # Multiply for logging.
    # Since we expect the gradient replica sum to happen in the optimizer,
    # the loss is scaled with global num_boxes and weights.
    # To have it more interpretable/comparable we scale it back when logging.
    num_replicas_in_sync = tf.distribute.get_strategy().num_replicas_in_sync
    loss *= num_replicas_in_sync
    cls_loss *= num_replicas_in_sync
    box_loss *= num_replicas_in_sync
    giou_loss *= num_replicas_in_sync

    # Evaluator class handles loss metric for you.
    logs = {self.loss: loss}

    # This is for backward compatibility.
    if 'detection_boxes' not in outputs:
      detection_boxes = box_ops.cycxhw_to_yxyx(
          outputs['box_outputs']) * tf.expand_dims(
              tf.concat([
                  labels['image_info'][:, 1:2, 0], labels['image_info'][:, 1:2,
                                                                        1],
                  labels['image_info'][:, 1:2, 0], labels['image_info'][:, 1:2,
                                                                        1]
              ],
                        axis=1),
              axis=1)
    else:
      detection_boxes = outputs['detection_boxes']

    detection_scores = tf.math.reduce_max(
        tf.nn.softmax(outputs['cls_outputs'])[:, :, 1:], axis=-1
    ) if 'detection_scores' not in outputs else outputs['detection_scores']

    if 'detection_classes' not in outputs:
      detection_classes = tf.math.argmax(
          outputs['cls_outputs'][:, :, 1:], axis=-1) + 1
    else:
      detection_classes = outputs['detection_classes']

    if 'num_detections' not in outputs:
      num_detections = tf.reduce_sum(
          tf.cast(
              tf.math.greater(
                  tf.math.reduce_max(outputs['cls_outputs'], axis=-1), 0),
              tf.int32),
          axis=-1)
    else:
      num_detections = outputs['num_detections']

    predictions = {
        'detection_boxes': detection_boxes,
        'detection_scores': detection_scores,
        'detection_classes': detection_classes,
        'num_detections': num_detections,
        'source_id': labels['id'],
        'image_info': labels['image_info']
    }

    ground_truths = {
        'source_id': labels['id'],
        'height': labels['image_info'][:, 0:1, 0],
        'width': labels['image_info'][:, 0:1, 1],
        'num_detections': tf.reduce_sum(
            tf.cast(tf.math.greater(labels['classes'], 0), tf.int32), axis=-1),
        'boxes': labels['gt_boxes'],
        'classes': labels['classes'],
        'is_crowds': labels['is_crowd']
    }
    logs.update({'predictions': predictions,
                 'ground_truths': ground_truths})

    all_losses = {
        'cls_loss': cls_loss,
        'box_loss': box_loss,
        'giou_loss': giou_loss,
    }

    # Metric results will be added to logs for you.
    if metrics:
      for m in metrics:
        m.update_state(all_losses[m.name])
    return logs

  def aggregate_logs(self, state=None, step_outputs=None):
    if state is None:
      self.coco_metric.reset_states()
      state = self.coco_metric

    state.update_state(
        step_outputs['ground_truths'],
        step_outputs['predictions'])
    return state

  def reduce_aggregated_logs(self, aggregated_logs, global_step=None):
    return aggregated_logs.result()
