"""EMT dataset."""

import os
import datasets

_HOMEPAGE = "https://github.com/AV-Lab/emt-dataset"
_LICENSE = "CC-BY-SA 4.0"

_CITATION = """  
@article{EMTdataset2025,  
      title={EMT: A Visual Multi-Task Benchmark Dataset for Autonomous Driving in the Arab Gulf Region},  
      author={Nadya Abdel Madjid and Murad Mebrahtu and Abdelmoamen Nasser and Bilal Hassan and Naoufel Werghi and Jorge Dias and Majid Khonji},  
      year={2025},  
      eprint={2502.19260},  
      archivePrefix={arXiv},  
      primaryClass={cs.CV},  
      url={https://arxiv.org/abs/2502.19260}  
}  
""" 

_DESCRIPTION = """\
A multi-task dataset for detection, tracking, prediction, and intention prediction. 
This dataset includes 34,386 annotated frames collected over 57 minutes of driving, with annotations for detection + tracking.
"""

# Image archive URL
_IMAGE_ARCHIVE_URL = "https://huggingface.co/datasets/KuAvLab/EMT/resolve/main/emt_images.tar.gz"

# Annotations URL (organized in train/test subfolders)
_ANNOTATION_REPO = "https://huggingface.co/datasets/KuAvLab/EMT/resolve/main/annotations"
# "https://huggingface.co/datasets/Murdism/EMT/resolve/main/annotations"

_GT_OBJECT_CLASSES = {
    0: "Pedestrian",
    1: "Cyclist",
    2: "Motorbike",
    3: "Small_motorised_vehicle",
    4: "Car",
    5: "Medium_vehicle",
    6: "Large_vehicle",
    7: "Bus",
    8: "Emergency_vehicle",
}

# Update: Consider using a predefined set of object classes for easier filtering
OBJECT_CLASSES = {v: k for k, v in _GT_OBJECT_CLASSES.items()}

class EMT(datasets.GeneratorBasedBuilder):
    """EMT dataset."""

    def _info(self):
        return datasets.DatasetInfo(
            description=_DESCRIPTION,
            features=datasets.Features(
                {
                    "image": datasets.Image(),
                    "objects": datasets.Sequence(
                        {
                            "bbox": datasets.Sequence(datasets.Value("float32")),
                            "class_id": datasets.Value("int32"),
                            "track_id": datasets.Value("int32"),
                            "class_name": datasets.Value("string"),
                        }
                    ),
                }
            ),
            supervised_keys=None,
            homepage=_HOMEPAGE,
            license=_LICENSE,
            citation=_CITATION,
        )

    def _split_generators(self, dl_manager):
        archive_path = dl_manager.download(_IMAGE_ARCHIVE_URL)
        annotation_paths = {
            "train": dl_manager.download_and_extract(f"{_ANNOTATION_REPO}/train/"),
            "test": dl_manager.download_and_extract(f"{_ANNOTATION_REPO}/test/"),
        }

        return [
            datasets.SplitGenerator(
                name=datasets.Split.TRAIN,
                gen_kwargs={
                    "images": dl_manager.iter_archive(archive_path),
                    "annotation_path": annotation_paths["train"],
                },
            ),
            datasets.SplitGenerator(
                name=datasets.Split.TEST,
                gen_kwargs={
                    "images": dl_manager.iter_archive(archive_path),
                    "annotation_path": annotation_paths["test"],
                },
            ),
            ]
    def _generate_examples(self, images, annotation_path):
        """Generate examples from annotations and image archive."""

        # Dictionary to store annotations
        annotations = {}

        # Process each image in the dataset
        for file_path, file_obj in images:
            img_name = os.path.basename(file_path)  # e.g., "000001.jpg"
            video_name = os.path.basename(os.path.dirname(file_path))  # e.g., "video_1112"

            # Expected annotation file
            ann_file = os.path.join(annotation_path, f"{video_name}.txt")

            # Read annotations only for the current video
            if os.path.exists(ann_file):
                with open(ann_file, "r", encoding="utf-8") as f:
                    for line in f:
                        parts = line.strip().split()
                        if len(parts) < 8:  # Ensure there are enough elements
                            continue
                        
                        frame_id, track_id, class_name = parts[:3]
                        bbox = list(map(float, parts[4:8]))  # Extract bounding box
                        class_id = _GT_OBJECT_CLASSES.get(class_name, -1)  # Convert class_name to numeric ID

                        # Match annotations to the correct image
                        if f"{frame_id}.jpg" == img_name:
                            if img_name not in annotations:
                                annotations[img_name] = []
                            annotations[img_name].append(
                                {
                                    "bbox": bbox,
                                    "class_id": class_id,
                                    "track_id": int(track_id),
                                    "class_name": class_name,
                                }
                            )

        # Yield dataset entries
        idx = 0
        for file_path, file_obj in images:
            img_name = os.path.basename(file_path)
            if img_name in annotations:
                yield idx, {
                    "image": {"path": file_path, "bytes": file_obj.read()},
                    "objects": annotations[img_name],
                }
                idx += 1

    # def _generate_examples(self, images, annotation_path):
    #     """Generate examples from annotations and image archive."""

    #     # Load annotation files
    #     annotations = {}
    #     for root, _, files in os.walk(annotation_path):
    #         for file in files:
    #             with open(os.path.join(root, file), "r", encoding="utf-8") as f:
    #                 for line in f:
    #                     parts = line.strip().split()
    #                     frame_id, track_id, class_name = parts[:3]
    #                     bbox = list(map(float, parts[4:8]))  # Extract bounding box
    #                     class_id = _GT_OBJECT_CLASSES.get(class_name, -1)  # Convert class_name to numeric ID, default to -1 if not found

    #                     img_path = f"{frame_id}.jpg"
    #                     if img_path not in annotations:
    #                         annotations[img_path] = []
    #                     annotations[img_path].append(
    #                         {
    #                             "bbox": bbox,
    #                             "class_id": class_id,
    #                             "track_id": int(track_id),
    #                             "class_name": class_name,
    #                         }
    #                     )

    #     # Yield dataset entries
    #     idx = 0
    #     for file_path, file_obj in images:
    #         img_name = os.path.basename(file_path)
    #         if img_name in annotations:
    #             yield idx, {
    #                 "image": {"path": file_path, "bytes": file_obj.read()},
    #                 "objects": annotations[img_name],
    #             }
    #             idx += 1