from collections import OrderedDict
import math
import random
import torch
import torch.nn as nn
import torch.nn.functional as F
import torch.utils.model_zoo as model_zoo
from config.options import BaseOptions
from config.common import Config
opt = BaseOptions().parse()
if opt.dataset_name=='ycb':
    config = Config(ds_name='ycb')
else:   
    config = Config(ds_name=opt.dataset_name, cls_type=opt.linemod_cls)


__all__ = ['ResNet', 'resnet18', 'resnet34', 'resnet50', 'resnet101',
           'resnet152']


model_urls = {
    'resnet18': 'https://download.pytorch.org/models/resnet18-5c106cde.pth',
    'resnet34': 'https://download.pytorch.org/models/resnet34-333f7ec4.pth',
    'resnet50': 'https://download.pytorch.org/models/resnet50-19c8e357.pth',
    'resnet101': 'https://download.pytorch.org/models/resnet101-5d3b4d8f.pth',
    'resnet152': 'https://download.pytorch.org/models/resnet152-b121ed2d.pth',
}


def load_weights_sequential(target, source_state):
    new_dict = OrderedDict()
    for (k1, v1), (k2, v2) in zip(target.state_dict().items(), source_state.items()):
        new_dict[k1] = v2
    target.load_state_dict(new_dict)

def conv3x3(in_planes, out_planes, stride=1, dilation=1):
    return nn.Conv2d(in_planes, out_planes, kernel_size=3, stride=stride,
                     padding=dilation, dilation=dilation, bias=False)

class BasicBlock(nn.Module):
    expansion = 1

    def __init__(self, inplanes, planes, stride=1, downsample=None, dilation=1):
        super(BasicBlock, self).__init__()
        self.conv1 = conv3x3(inplanes, planes, stride=stride, dilation=dilation)
        self.bn1 = nn.BatchNorm2d(planes)
        self.relu = nn.ReLU(inplace=True)
        self.conv2 = conv3x3(planes, planes, stride=1, dilation=dilation)
        self.bn2 = nn.BatchNorm2d(planes)
        self.downsample = downsample
        self.stride = stride

    def forward(self, x):
        residual = x

        out = self.conv1(x)
        out = self.bn1(out)
        out = self.relu(out)

        out = self.conv2(out)
        out = self.bn2(out)

        if self.downsample is not None:
            residual = self.downsample(x)

        out += residual
        out = self.relu(out)

        return out


class Bottleneck(nn.Module):
    expansion = 4
    def __init__(self, inplanes, planes, stride=1, downsample=None, dilation=1):
        super(Bottleneck, self).__init__()
        self.conv1 = nn.Conv2d(inplanes, planes, kernel_size=1, bias=False)
        self.bn1 = nn.BatchNorm2d(planes)

        self.conv2 = nn.Conv2d(planes, planes, kernel_size=3, stride=stride, dilation=dilation,
                               padding=dilation, bias=False)

        self.bn2 = nn.BatchNorm2d(planes)
        self.conv3 = nn.Conv2d(planes, planes * 4, kernel_size=1, bias=False)
        self.bn3 = nn.BatchNorm2d(planes * 4)
        self.relu = nn.ReLU(inplace=True)
        self.downsample = downsample
        self.stride = stride

    def forward(self, x):
        residual = x

        out = self.conv1(x)
        out = self.bn1(out)
        out = self.relu(out)

        out = self.conv2(out)
        out = self.bn2(out)
        out = self.relu(out)

        out = self.conv3(out)
        out = self.bn3(out)

        if self.downsample is not None:
            residual = self.downsample(x)

        out += residual
        out = self.relu(out)

        return out


class ResNet(nn.Module):
    def __init__(self,
                 block,
                 layers=(3, 4, 23, 3),
                 num_classes=1000,
                 fully_conv=False,
                 remove_avg_pool_layer=True,
                 output_stride=32,
                 ):

        self.output_stride = output_stride
        self.current_stride = 4
        self.current_dilation = 1
        self.remove_avg_pool_layer = remove_avg_pool_layer

        self.inplanes = 64
        self.fully_conv = fully_conv
        super(ResNet, self).__init__()
        
        self.conv1 = nn.Conv2d(3, 64, kernel_size=7, stride=2, padding=3,
                               bias=False)
        # if opt.add_depth and not opt.depth_split:
        #     self.conv1 = nn.Conv2d(7, 64, kernel_size=7, stride=2, padding=3,
        #                        bias=False)
        # if opt.add_depth and opt.depth_split:
        #     self.conv1 = nn.Conv2d(6, 64, kernel_size=7, stride=2, padding=3,
        #                        bias=False)
        #     self.conv1_depth = nn.Conv2d(1, 64, kernel_size=7, stride=2, padding=3,
        #                        bias=False)
        
            
        self.bn1 = nn.BatchNorm2d(64)
        self.relu = nn.ReLU(inplace=True)
        self.maxpool = nn.MaxPool2d(kernel_size=3, stride=2, padding=1)

        self.layer1 = self._make_layer(block, 64, layers[0])
        self.layer2 = self._make_layer(block, 128, layers[1], stride=2)
        self.layer3 = self._make_layer(block, 256, layers[2], stride=1, dilation=2)
        self.layer4 = self._make_layer(block, 512, layers[3], stride=1, dilation=4)

        self.avgpool = nn.AvgPool2d(7)

        self.fc = nn.Linear(512 * block.expansion, num_classes)

        if self.fully_conv:
            self.avgpool = nn.AvgPool2d(7, padding=3, stride=1)

        for m in self.modules():
            if isinstance(m, nn.Conv2d):
                n = m.kernel_size[0] * m.kernel_size[1] * m.out_channels
                m.weight.data.normal_(0, math.sqrt(2. / n))
            elif isinstance(m, nn.BatchNorm2d):
                m.weight.data.fill_(1)
                m.bias.data.zero_()

    def _make_layer(self, block, planes, blocks, stride=1, dilation=1):
        downsample = None
        if stride != 1 or self.inplanes != planes * block.expansion:
            # Check if we already achieved desired output stride.
            if self.current_stride == self.output_stride:
                # If so, replace subsampling with a dilation to preserve
                # current spatial resolution.
                self.current_dilation = self.current_dilation * stride
                stride = 1
            else:
                # If not, perform subsampling and update current
                # new output stride.
                self.current_stride = self.current_stride * stride

            # We don't dilate 1x1 convolution.
            downsample = nn.Sequential(
                nn.Conv2d(self.inplanes, planes * block.expansion,
                          kernel_size=1, stride=stride, bias=False),
                nn.BatchNorm2d(planes * block.expansion),
            )

        layers = []
        layers.append(block(self.inplanes, planes, stride, downsample, dilation=self.current_dilation))
        self.inplanes = planes * block.expansion
        for i in range(1, blocks):
            layers.append(block(self.inplanes, planes, dilation=self.current_dilation))

        return nn.Sequential(*layers)

    def forward(self, x):
        
        if opt.depth_split:
            x = self.conv1_depth(x)
        else:
            x = self.conv1(x)
        x = self.bn1(x)
        x = self.relu(x)
        x = self.maxpool(x)

        x = self.layer1(x)
        x = self.layer2(x)
        x_3 = self.layer3(x)
        x32s = self.layer4(x_3)
        x = x32s

        if not self.remove_avg_pool_layer:
            x = self.avgpool(x)

        if not self.fully_conv:
            x = x.view(x.size(0), -1)

        # xfc = self.fc(x)

        return x32s, x_3


def resnet18(pretrained=False):
    model = ResNet(BasicBlock, [2, 2, 2, 2])
    if pretrained:
        print("loading resnet18 pretrained mdl.")
        model.load_state_dict(
            model_zoo.load_url(
                model_urls['resnet18'], model_dir=opt.resnet_ptr_mdl_p
            )
        )
    return model

def resnet34(pretrained=False):
    model = ResNet(BasicBlock, [3, 4, 6, 3])
    if pretrained:
        print("loading resnet34 pretrained mdl.")
        model.load_state_dict(
            model_zoo.load_url(
                model_urls['resnet34'], model_dir=opt.resnet_ptr_mdl_p
            )
        )
    return model

def resnet50(pretrained=False):
    model = ResNet(Bottleneck, [3, 4, 6, 3])
    if pretrained:
        print("loading resnet50 pretrained mdl.")
        model.load_state_dict(
            model_zoo.load_url(
                model_urls['resnet50'], model_dir=opt.resnet_ptr_mdl_p
            )
        )
    return model

def resnet101(pretrained=False):
    model = ResNet(Bottleneck, [3, 4, 23, 3])
    if pretrained:
        print("loading resnet101 pretrained mdl.")
        model.load_state_dict(
            model_zoo.load_url(
                model_urls['resnet101'], model_dir=opt.resnet_ptr_mdl_p
            )
        )
    return model

def resnet152(pretrained=False):
    model = ResNet(Bottleneck, [3, 8, 36, 3])
    if pretrained:
        print("loading resnet152 pretrained mdl.")
        model.load_state_dict(
            model_zoo.load_url(
                model_urls['resnet152'], model_dir=opt.resnet_ptr_mdl_p
            )
        )
    return model
