# ---------------------------------------------
# Copyright (c) OpenMMLab. All rights reserved.
# ---------------------------------------------
#  Modified by Zhiqi Li
# ---------------------------------------------

from tkinter.messagebox import NO
import torch
from mmcv.runner import force_fp32, auto_fp16
from mmdet.models import DETECTORS
from mmdet3d.core import bbox3d2result
from mmdet3d.models.detectors.mvx_two_stage import MVXTwoStageDetector
from projects.mmdet3d_plugin.models.utils.grid_mask import GridMask
from projects.mmdet3d_plugin.bevformer.detectors.bevformer import BEVFormer
import time
import copy
import numpy as np
import mmdet3d
from projects.mmdet3d_plugin.models.utils.bricks import run_time


@DETECTORS.register_module()
class BEVFormer_fp16(BEVFormer):
    """
    The default version BEVFormer currently can not support FP16.
    We provide this version to resolve this issue.
    """

    @auto_fp16(apply_to=('img', 'prev_bev', 'points'))
    def forward_train(self,
                      points=None,
                      img_metas=None,
                      gt_bboxes_3d=None,
                      gt_labels_3d=None,
                      gt_labels=None,
                      gt_bboxes=None,
                      img=None,
                      proposals=None,
                      gt_bboxes_ignore=None,
                      img_depth=None,
                      img_mask=None,
                      prev_bev=None,
                      ):
        """Forward training function.
        Args:
            points (list[torch.Tensor], optional): Points of each sample.
                Defaults to None.
            img_metas (list[dict], optional): Meta information of each sample.
                Defaults to None.
            gt_bboxes_3d (list[:obj:`BaseInstance3DBoxes`], optional):
                Ground truth 3D boxes. Defaults to None.
            gt_labels_3d (list[torch.Tensor], optional): Ground truth labels
                of 3D boxes. Defaults to None.
            gt_labels (list[torch.Tensor], optional): Ground truth labels
                of 2D boxes in images. Defaults to None.
            gt_bboxes (list[torch.Tensor], optional): Ground truth 2D boxes in
                images. Defaults to None.
            img (torch.Tensor optional): Images of each sample with shape
                (N, C, H, W). Defaults to None.
            proposals ([list[torch.Tensor], optional): Predicted proposals
                used for training Fast RCNN. Defaults to None.
            gt_bboxes_ignore (list[torch.Tensor], optional): Ground truth
                2D boxes in images to be ignored. Defaults to None.
        Returns:
            dict: Losses of different branches.
        """

        img_feats = self.extract_feat(img=img, img_metas=img_metas)

        losses = dict()
        losses_pts = self.forward_pts_train(img_feats, gt_bboxes_3d,
                                            gt_labels_3d, img_metas,
                                            gt_bboxes_ignore, prev_bev=prev_bev)
        losses.update(losses_pts)
        return losses


    def val_step(self, data, optimizer):
        """
        In BEVFormer_fp16, we use this `val_step` function to inference the `prev_pev`.
        This is not the standard function of `val_step`.
        """

        img = data['img']
        img_metas = data['img_metas']
        img_feats = self.extract_feat(img=img,  img_metas=img_metas)
        prev_bev = data.get('prev_bev', None)
        prev_bev = self.pts_bbox_head(img_feats, img_metas, prev_bev=prev_bev, only_bev=True)
        return prev_bev
