# Copyright (c) OpenMMLab. All rights reserved.
import os.path as osp
import warnings

import numpy as np
import torch

from mmdet.core import bbox2result
from mmdet.models import BaseDetector


class DeployBaseDetector(BaseDetector):
    """DeployBaseDetector."""

    def __init__(self, class_names, device_id):
        super(DeployBaseDetector, self).__init__()
        self.CLASSES = class_names
        self.device_id = device_id

    def simple_test(self, img, img_metas, **kwargs):
        raise NotImplementedError('This method is not implemented.')

    def aug_test(self, imgs, img_metas, **kwargs):
        raise NotImplementedError('This method is not implemented.')

    def extract_feat(self, imgs):
        raise NotImplementedError('This method is not implemented.')

    def forward_train(self, imgs, img_metas, **kwargs):
        raise NotImplementedError('This method is not implemented.')

    def val_step(self, data, optimizer):
        raise NotImplementedError('This method is not implemented.')

    def train_step(self, data, optimizer):
        raise NotImplementedError('This method is not implemented.')

    def forward_test(self, *, img, img_metas, **kwargs):
        raise NotImplementedError('This method is not implemented.')

    def async_simple_test(self, img, img_metas, **kwargs):
        raise NotImplementedError('This method is not implemented.')

    def forward(self, img, img_metas, return_loss=True, **kwargs):
        outputs = self.forward_test(img, img_metas, **kwargs)
        batch_dets, batch_labels = outputs[:2]
        batch_masks = outputs[2] if len(outputs) == 3 else None
        batch_size = img[0].shape[0]
        img_metas = img_metas[0]
        results = []
        rescale = kwargs.get('rescale', True)
        for i in range(batch_size):
            dets, labels = batch_dets[i], batch_labels[i]
            if rescale:
                scale_factor = img_metas[i]['scale_factor']

                if isinstance(scale_factor, (list, tuple, np.ndarray)):
                    assert len(scale_factor) == 4
                    scale_factor = np.array(scale_factor)[None, :]  # [1,4]
                dets[:, :4] /= scale_factor

            if 'border' in img_metas[i]:
                # offset pixel of the top-left corners between original image
                # and padded/enlarged image, 'border' is used when exporting
                # CornerNet and CentripetalNet to onnx
                x_off = img_metas[i]['border'][2]
                y_off = img_metas[i]['border'][0]
                dets[:, [0, 2]] -= x_off
                dets[:, [1, 3]] -= y_off
                dets[:, :4] *= (dets[:, :4] > 0).astype(dets.dtype)

            dets_results = bbox2result(dets, labels, len(self.CLASSES))

            if batch_masks is not None:
                masks = batch_masks[i]
                img_h, img_w = img_metas[i]['img_shape'][:2]
                ori_h, ori_w = img_metas[i]['ori_shape'][:2]
                masks = masks[:, :img_h, :img_w]
                if rescale:
                    masks = masks.astype(np.float32)
                    masks = torch.from_numpy(masks)
                    masks = torch.nn.functional.interpolate(
                        masks.unsqueeze(0), size=(ori_h, ori_w))
                    masks = masks.squeeze(0).detach().numpy()
                if masks.dtype != bool:
                    masks = masks >= 0.5
                segms_results = [[] for _ in range(len(self.CLASSES))]
                for j in range(len(dets)):
                    segms_results[labels[j]].append(masks[j])
                results.append((dets_results, segms_results))
            else:
                results.append(dets_results)
        return results


class ONNXRuntimeDetector(DeployBaseDetector):
    """Wrapper for detector's inference with ONNXRuntime."""

    def __init__(self, onnx_file, class_names, device_id):
        super(ONNXRuntimeDetector, self).__init__(class_names, device_id)
        import onnxruntime as ort

        # get the custom op path
        ort_custom_op_path = ''
        try:
            from mmcv.ops import get_onnxruntime_op_path
            ort_custom_op_path = get_onnxruntime_op_path()
        except (ImportError, ModuleNotFoundError):
            warnings.warn('If input model has custom op from mmcv, \
                you may have to build mmcv with ONNXRuntime from source.')
        session_options = ort.SessionOptions()
        # register custom op for onnxruntime
        if osp.exists(ort_custom_op_path):
            session_options.register_custom_ops_library(ort_custom_op_path)
        sess = ort.InferenceSession(onnx_file, session_options)
        providers = ['CPUExecutionProvider']
        options = [{}]
        is_cuda_available = ort.get_device() == 'GPU'
        if is_cuda_available:
            providers.insert(0, 'CUDAExecutionProvider')
            options.insert(0, {'device_id': device_id})

        sess.set_providers(providers, options)

        self.sess = sess
        self.io_binding = sess.io_binding()
        self.output_names = [_.name for _ in sess.get_outputs()]
        self.is_cuda_available = is_cuda_available

    def forward_test(self, imgs, img_metas, **kwargs):
        input_data = imgs[0]
        # set io binding for inputs/outputs
        device_type = 'cuda' if self.is_cuda_available else 'cpu'
        if not self.is_cuda_available:
            input_data = input_data.cpu()
        self.io_binding.bind_input(
            name='input',
            device_type=device_type,
            device_id=self.device_id,
            element_type=np.float32,
            shape=input_data.shape,
            buffer_ptr=input_data.data_ptr())

        for name in self.output_names:
            self.io_binding.bind_output(name)
        # run session to get outputs
        self.sess.run_with_iobinding(self.io_binding)
        ort_outputs = self.io_binding.copy_outputs_to_cpu()
        return ort_outputs


class TensorRTDetector(DeployBaseDetector):
    """Wrapper for detector's inference with TensorRT."""

    def __init__(self, engine_file, class_names, device_id, output_names=None):
        super(TensorRTDetector, self).__init__(class_names, device_id)
        warnings.warn('`output_names` is deprecated and will be removed in '
                      'future releases.')
        from mmcv.tensorrt import TRTWraper, load_tensorrt_plugin
        try:
            load_tensorrt_plugin()
        except (ImportError, ModuleNotFoundError):
            warnings.warn('If input model has custom op from mmcv, \
                you may have to build mmcv with TensorRT from source.')

        output_names = ['dets', 'labels']
        model = TRTWraper(engine_file, ['input'], output_names)
        with_masks = False
        # if TensorRT has totally 4 inputs/outputs, then
        # the detector should have `mask` output.
        if len(model.engine) == 4:
            model.output_names = output_names + ['masks']
            with_masks = True
        self.model = model
        self.with_masks = with_masks

    def forward_test(self, imgs, img_metas, **kwargs):
        input_data = imgs[0].contiguous()
        with torch.cuda.device(self.device_id), torch.no_grad():
            outputs = self.model({'input': input_data})
            outputs = [outputs[name] for name in self.model.output_names]
        outputs = [out.detach().cpu().numpy() for out in outputs]
        return outputs
