#include "kernel_simple_radial_split_fixed_principal_point_fixed_point_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)
    SimpleRadialSplitFixedPrincipalPointFixedPointJtjnjtrDirectKernel(
        double* pose_njtr,
        unsigned int pose_njtr_num_alloc,
        SharedIndex* pose_njtr_indices,
        double* pose_jac,
        unsigned int pose_jac_num_alloc,
        double* focal_and_extra_njtr,
        unsigned int focal_and_extra_njtr_num_alloc,
        SharedIndex* focal_and_extra_njtr_indices,
        double* focal_and_extra_jac,
        unsigned int focal_and_extra_jac_num_alloc,
        double* const out_pose_njtr,
        unsigned int out_pose_njtr_num_alloc,
        double* const out_focal_and_extra_njtr,
        unsigned int out_focal_and_extra_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 focal_and_extra_njtr_indices_loc[1024];
  focal_and_extra_njtr_indices_loc[threadIdx.x] =
      (global_thread_idx < problem_size
           ? focal_and_extra_njtr_indices[global_thread_idx]
           : SharedIndex{0xffffffff, 0xffff, 0xffff});

  double r0, r1, r2, r3, r4, r5, r6, r7, r8, r9, r10, r11, r12, r13, r14, r15,
      r16, r17, r18, r19, r20;

  if (global_thread_idx < problem_size) {
    ReadIdx2<1024, double, double, double2>(
        pose_jac, 0 * pose_jac_num_alloc, global_thread_idx, r0, r1);
  };
  LoadShared<2, double, double>(focal_and_extra_njtr,
                                0 * focal_and_extra_njtr_num_alloc,
                                focal_and_extra_njtr_indices_loc,
                                (double*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadShared2<double>((double*)inout_shared,
                        focal_and_extra_njtr_indices_loc[threadIdx.x].target,
                        r2,
                        r3);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    ReadIdx2<1024, double, double, double2>(focal_and_extra_jac,
                                            0 * focal_and_extra_jac_num_alloc,
                                            global_thread_idx,
                                            r4,
                                            r5);
    ReadIdx2<1024, double, double, double2>(focal_and_extra_jac,
                                            2 * focal_and_extra_jac_num_alloc,
                                            global_thread_idx,
                                            r6,
                                            r7);
    r8 = fma(r3, r7, r2 * r5);
    r3 = fma(r3, r6, r2 * r4);
    r2 = fma(r0, r3, r1 * r8);
    ReadIdx2<1024, double, double, double2>(
        pose_jac, 2 * pose_jac_num_alloc, global_thread_idx, r9, r10);
    r11 = fma(r9, r3, r10 * r8);
    WriteSum2<double, double>((double*)inout_shared, r2, r11);
  };
  FlushSumShared<2, double>(out_pose_njtr,
                            0 * out_pose_njtr_num_alloc,
                            pose_njtr_indices_loc,
                            (double*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadIdx2<1024, double, double, double2>(
        pose_jac, 4 * pose_jac_num_alloc, global_thread_idx, r11, r2);
    r12 = fma(r11, r3, r2 * r8);
    ReadIdx2<1024, double, double, double2>(
        pose_jac, 6 * pose_jac_num_alloc, global_thread_idx, r13, r14);
    r15 = fma(r13, r3, r14 * r8);
    WriteSum2<double, double>((double*)inout_shared, r12, r15);
  };
  FlushSumShared<2, double>(out_pose_njtr,
                            2 * out_pose_njtr_num_alloc,
                            pose_njtr_indices_loc,
                            (double*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadIdx2<1024, double, double, double2>(
        pose_jac, 8 * pose_jac_num_alloc, global_thread_idx, r15, r12);
    r16 = fma(r15, r3, r12 * r8);
    ReadIdx2<1024, double, double, double2>(
        pose_jac, 10 * pose_jac_num_alloc, global_thread_idx, r17, r18);
    r3 = fma(r17, r3, r18 * r8);
    WriteSum2<double, double>((double*)inout_shared, r16, r3);
  };
  FlushSumShared<2, double>(out_pose_njtr,
                            4 * out_pose_njtr_num_alloc,
                            pose_njtr_indices_loc,
                            (double*)inout_shared);
  LoadShared<2, double, double>(pose_njtr,
                                4 * pose_njtr_num_alloc,
                                pose_njtr_indices_loc,
                                (double*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadShared2<double>((double*)inout_shared,
                        pose_njtr_indices_loc[threadIdx.x].target,
                        r3,
                        r16);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    r15 = fma(r3, r15, r16 * r17);
  };
  LoadShared<2, double, double>(pose_njtr,
                                2 * pose_njtr_num_alloc,
                                pose_njtr_indices_loc,
                                (double*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadShared2<double>((double*)inout_shared,
                        pose_njtr_indices_loc[threadIdx.x].target,
                        r17,
                        r8);
  };
  __syncthreads();
  LoadShared<2, double, double>(pose_njtr,
                                0 * pose_njtr_num_alloc,
                                pose_njtr_indices_loc,
                                (double*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadShared2<double>((double*)inout_shared,
                        pose_njtr_indices_loc[threadIdx.x].target,
                        r19,
                        r20);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    r15 = fma(r17, r11, r15);
    r15 = fma(r8, r13, r15);
    r15 = fma(r19, r0, r15);
    r15 = fma(r20, r9, r15);
    r14 = fma(r8, r14, r16 * r18);
    r14 = fma(r17, r2, r14);
    r14 = fma(r19, r1, r14);
    r14 = fma(r20, r10, r14);
    r14 = fma(r3, r12, r14);
    r5 = fma(r5, r14, r4 * r15);
    r14 = fma(r7, r14, r6 * r15);
    WriteSum2<double, double>((double*)inout_shared, r5, r14);
  };
  FlushSumShared<2, double>(out_focal_and_extra_njtr,
                            0 * out_focal_and_extra_njtr_num_alloc,
                            focal_and_extra_njtr_indices_loc,
                            (double*)inout_shared);
}

void SimpleRadialSplitFixedPrincipalPointFixedPointJtjnjtrDirect(
    double* pose_njtr,
    unsigned int pose_njtr_num_alloc,
    SharedIndex* pose_njtr_indices,
    double* pose_jac,
    unsigned int pose_jac_num_alloc,
    double* focal_and_extra_njtr,
    unsigned int focal_and_extra_njtr_num_alloc,
    SharedIndex* focal_and_extra_njtr_indices,
    double* focal_and_extra_jac,
    unsigned int focal_and_extra_jac_num_alloc,
    double* const out_pose_njtr,
    unsigned int out_pose_njtr_num_alloc,
    double* const out_focal_and_extra_njtr,
    unsigned int out_focal_and_extra_njtr_num_alloc,
    size_t problem_size) {
  if (problem_size == 0) {
    return;
  }

  const int n_blocks = (problem_size + 1024 - 1) / 1024;
  SimpleRadialSplitFixedPrincipalPointFixedPointJtjnjtrDirectKernel<<<n_blocks,
                                                                      1024>>>(
      pose_njtr,
      pose_njtr_num_alloc,
      pose_njtr_indices,
      pose_jac,
      pose_jac_num_alloc,
      focal_and_extra_njtr,
      focal_and_extra_njtr_num_alloc,
      focal_and_extra_njtr_indices,
      focal_and_extra_jac,
      focal_and_extra_jac_num_alloc,
      out_pose_njtr,
      out_pose_njtr_num_alloc,
      out_focal_and_extra_njtr,
      out_focal_and_extra_njtr_num_alloc,
      problem_size);
}

}  // namespace caspar