#include "kernel_pinhole_jtjnjtr_direct.h"
#include "memops.cuh"
#include <cooperative_groups.h>
#include <cooperative_groups/details/partitioning.h>
#include <cooperative_groups/memcpy_async.h>
#include <cooperative_groups/reduce.h>
#include <cuda_runtime.h>

namespace cg = cooperative_groups;

namespace caspar {

__global__ void __launch_bounds__(1024, 1)
    PinholeJtjnjtrDirectKernel(float* pose_njtr,
                               unsigned int pose_njtr_num_alloc,
                               SharedIndex* pose_njtr_indices,
                               float* pose_jac,
                               unsigned int pose_jac_num_alloc,
                               float* calib_njtr,
                               unsigned int calib_njtr_num_alloc,
                               SharedIndex* calib_njtr_indices,
                               float* calib_jac,
                               unsigned int calib_jac_num_alloc,
                               float* point_njtr,
                               unsigned int point_njtr_num_alloc,
                               SharedIndex* point_njtr_indices,
                               float* point_jac,
                               unsigned int point_jac_num_alloc,
                               float* const out_pose_njtr,
                               unsigned int out_pose_njtr_num_alloc,
                               float* const out_calib_njtr,
                               unsigned int out_calib_njtr_num_alloc,
                               float* const out_point_njtr,
                               unsigned int out_point_njtr_num_alloc,
                               size_t problem_size) {
  const int global_thread_idx = blockIdx.x * blockDim.x + threadIdx.x;
  __shared__ uint8_t inout_shared[16384];

  __shared__ SharedIndex pose_njtr_indices_loc[1024];
  pose_njtr_indices_loc[threadIdx.x] =
      (global_thread_idx < problem_size
           ? pose_njtr_indices[global_thread_idx]
           : SharedIndex{0xffffffff, 0xffff, 0xffff});

  __shared__ SharedIndex calib_njtr_indices_loc[1024];
  calib_njtr_indices_loc[threadIdx.x] =
      (global_thread_idx < problem_size
           ? calib_njtr_indices[global_thread_idx]
           : SharedIndex{0xffffffff, 0xffff, 0xffff});

  __shared__ SharedIndex point_njtr_indices_loc[1024];
  point_njtr_indices_loc[threadIdx.x] =
      (global_thread_idx < problem_size
           ? point_njtr_indices[global_thread_idx]
           : SharedIndex{0xffffffff, 0xffff, 0xffff});

  float r0, r1, r2, r3, r4, r5, r6, r7, r8, r9, r10, r11, r12, r13, r14, r15,
      r16, r17, r18, r19, r20, r21, r22, r23, r24, r25, r26, r27, r28;

  if (global_thread_idx < problem_size) {
    ReadIdx4<1024, float, float, float4>(
        pose_jac, 0 * pose_jac_num_alloc, global_thread_idx, r0, r1, r2, r3);
  };
  LoadShared<3, float, float>(point_njtr,
                              0 * point_njtr_num_alloc,
                              point_njtr_indices_loc,
                              (float*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadShared3<float>((float*)inout_shared,
                       point_njtr_indices_loc[threadIdx.x].target,
                       r4,
                       r5,
                       r6);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    ReadIdx2<1024, float, float, float2>(
        point_jac, 4 * point_jac_num_alloc, global_thread_idx, r7, r8);
    ReadIdx4<1024, float, float, float4>(point_jac,
                                         0 * point_jac_num_alloc,
                                         global_thread_idx,
                                         r9,
                                         r10,
                                         r11,
                                         r12);
    r13 = fmaf(r5, r11, r6 * r7);
    r13 = fmaf(r4, r9, r13);
  };
  LoadShared<4, float, float>(calib_njtr,
                              0 * calib_njtr_num_alloc,
                              calib_njtr_indices_loc,
                              (float*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadShared4<float>((float*)inout_shared,
                       calib_njtr_indices_loc[threadIdx.x].target,
                       r14,
                       r15,
                       r16,
                       r17);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    ReadIdx2<1024, float, float, float2>(
        calib_jac, 0 * calib_jac_num_alloc, global_thread_idx, r18, r19);
    r14 = fmaf(r14, r18, r16);
    r16 = r13 + r14;
    r5 = fmaf(r5, r12, r6 * r8);
    r5 = fmaf(r4, r10, r5);
    r15 = fmaf(r15, r19, r17);
    r17 = r5 + r15;
    r4 = fmaf(r1, r17, r0 * r16);
    r6 = fmaf(r3, r17, r2 * r16);
    ReadIdx4<1024, float, float, float4>(pose_jac,
                                         4 * pose_jac_num_alloc,
                                         global_thread_idx,
                                         r20,
                                         r21,
                                         r22,
                                         r23);
    r24 = fmaf(r21, r17, r20 * r16);
    r25 = fmaf(r23, r17, r22 * r16);
    WriteSum4<float, float>((float*)inout_shared, r4, r6, r24, r25);
  };
  FlushSumShared<4, float>(out_pose_njtr,
                           0 * out_pose_njtr_num_alloc,
                           pose_njtr_indices_loc,
                           (float*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadIdx4<1024, float, float, float4>(
        pose_jac, 8 * pose_jac_num_alloc, global_thread_idx, r25, r24, r6, r4);
    r26 = fmaf(r24, r17, r25 * r16);
    r16 = fmaf(r6, r16, r4 * r17);
    WriteSum2<float, float>((float*)inout_shared, r26, r16);
  };
  FlushSumShared<2, float>(out_pose_njtr,
                           4 * out_pose_njtr_num_alloc,
                           pose_njtr_indices_loc,
                           (float*)inout_shared);
  LoadShared<2, float, float>(pose_njtr,
                              4 * pose_njtr_num_alloc,
                              pose_njtr_indices_loc,
                              (float*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadShared2<float>((float*)inout_shared,
                       pose_njtr_indices_loc[threadIdx.x].target,
                       r16,
                       r26);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    r25 = fmaf(r16, r25, r26 * r6);
  };
  LoadShared<4, float, float>(pose_njtr,
                              0 * pose_njtr_num_alloc,
                              pose_njtr_indices_loc,
                              (float*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadShared4<float>((float*)inout_shared,
                       pose_njtr_indices_loc[threadIdx.x].target,
                       r6,
                       r17,
                       r27,
                       r28);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    r25 = fmaf(r27, r20, r25);
    r25 = fmaf(r28, r22, r25);
    r25 = fmaf(r6, r0, r25);
    r25 = fmaf(r17, r2, r25);
    r13 = r25 + r13;
    r18 = r18 * r13;
    r23 = fmaf(r28, r23, r26 * r4);
    r23 = fmaf(r27, r21, r23);
    r23 = fmaf(r6, r1, r23);
    r23 = fmaf(r17, r3, r23);
    r23 = fmaf(r16, r24, r23);
    r5 = r23 + r5;
    r19 = r19 * r5;
    WriteSum4<float, float>((float*)inout_shared, r18, r19, r13, r5);
  };
  FlushSumShared<4, float>(out_calib_njtr,
                           0 * out_calib_njtr_num_alloc,
                           calib_njtr_indices_loc,
                           (float*)inout_shared);
  if (global_thread_idx < problem_size) {
    r14 = r25 + r14;
    r15 = r23 + r15;
    r10 = fmaf(r10, r15, r9 * r14);
    r12 = fmaf(r12, r15, r11 * r14);
    r15 = fmaf(r8, r15, r7 * r14);
    WriteSum3<float, float>((float*)inout_shared, r10, r12, r15);
  };
  FlushSumShared<3, float>(out_point_njtr,
                           0 * out_point_njtr_num_alloc,
                           point_njtr_indices_loc,
                           (float*)inout_shared);
}

void PinholeJtjnjtrDirect(float* pose_njtr,
                          unsigned int pose_njtr_num_alloc,
                          SharedIndex* pose_njtr_indices,
                          float* pose_jac,
                          unsigned int pose_jac_num_alloc,
                          float* calib_njtr,
                          unsigned int calib_njtr_num_alloc,
                          SharedIndex* calib_njtr_indices,
                          float* calib_jac,
                          unsigned int calib_jac_num_alloc,
                          float* point_njtr,
                          unsigned int point_njtr_num_alloc,
                          SharedIndex* point_njtr_indices,
                          float* point_jac,
                          unsigned int point_jac_num_alloc,
                          float* const out_pose_njtr,
                          unsigned int out_pose_njtr_num_alloc,
                          float* const out_calib_njtr,
                          unsigned int out_calib_njtr_num_alloc,
                          float* const out_point_njtr,
                          unsigned int out_point_njtr_num_alloc,
                          size_t problem_size) {
  if (problem_size == 0) {
    return;
  }

  const int n_blocks = (problem_size + 1024 - 1) / 1024;
  PinholeJtjnjtrDirectKernel<<<n_blocks, 1024>>>(pose_njtr,
                                                 pose_njtr_num_alloc,
                                                 pose_njtr_indices,
                                                 pose_jac,
                                                 pose_jac_num_alloc,
                                                 calib_njtr,
                                                 calib_njtr_num_alloc,
                                                 calib_njtr_indices,
                                                 calib_jac,
                                                 calib_jac_num_alloc,
                                                 point_njtr,
                                                 point_njtr_num_alloc,
                                                 point_njtr_indices,
                                                 point_jac,
                                                 point_jac_num_alloc,
                                                 out_pose_njtr,
                                                 out_pose_njtr_num_alloc,
                                                 out_calib_njtr,
                                                 out_calib_njtr_num_alloc,
                                                 out_point_njtr,
                                                 out_point_njtr_num_alloc,
                                                 problem_size);
}

}  // namespace caspar