#include "kernel_simple_radial_split_fixed_focal_and_extra_fixed_principal_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)
    SimpleRadialSplitFixedFocalAndExtraFixedPrincipalPointJtjnjtrDirectKernel(
        float* pose_njtr,
        unsigned int pose_njtr_num_alloc,
        SharedIndex* pose_njtr_indices,
        float* pose_jac,
        unsigned int pose_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_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 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;

  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);
    r5 = fmaf(r5, r12, r6 * r8);
    r5 = fmaf(r4, r10, r5);
    r4 = fmaf(r1, r5, r0 * r13);
    r6 = fmaf(r3, r5, r2 * r13);
    ReadIdx4<1024, float, float, float4>(pose_jac,
                                         4 * pose_jac_num_alloc,
                                         global_thread_idx,
                                         r14,
                                         r15,
                                         r16,
                                         r17);
    r18 = fmaf(r15, r5, r14 * r13);
    r19 = fmaf(r17, r5, r16 * r13);
    WriteSum4<float, float>((float*)inout_shared, r4, r6, r18, r19);
  };
  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, r19, r18, r6, r4);
    r20 = fmaf(r18, r5, r19 * r13);
    r13 = fmaf(r6, r13, r4 * r5);
    WriteSum2<float, float>((float*)inout_shared, r20, r13);
  };
  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,
                       r13,
                       r20);
  };
  __syncthreads();
  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,
                       r5,
                       r21,
                       r22,
                       r23);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    r17 = fmaf(r23, r17, r20 * r4);
    r17 = fmaf(r22, r15, r17);
    r17 = fmaf(r5, r1, r17);
    r17 = fmaf(r21, r3, r17);
    r17 = fmaf(r13, r18, r17);
    r19 = fmaf(r13, r19, r20 * r6);
    r19 = fmaf(r22, r14, r19);
    r19 = fmaf(r23, r16, r19);
    r19 = fmaf(r5, r0, r19);
    r19 = fmaf(r21, r2, r19);
    r9 = fmaf(r9, r19, r10 * r17);
    r11 = fmaf(r11, r19, r12 * r17);
    r19 = fmaf(r7, r19, r8 * r17);
    WriteSum3<float, float>((float*)inout_shared, r9, r11, r19);
  };
  FlushSumShared<3, float>(out_point_njtr,
                           0 * out_point_njtr_num_alloc,
                           point_njtr_indices_loc,
                           (float*)inout_shared);
}

void SimpleRadialSplitFixedFocalAndExtraFixedPrincipalPointJtjnjtrDirect(
    float* pose_njtr,
    unsigned int pose_njtr_num_alloc,
    SharedIndex* pose_njtr_indices,
    float* pose_jac,
    unsigned int pose_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_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;
  SimpleRadialSplitFixedFocalAndExtraFixedPrincipalPointJtjnjtrDirectKernel<<<
      n_blocks,
      1024>>>(pose_njtr,
              pose_njtr_num_alloc,
              pose_njtr_indices,
              pose_jac,
              pose_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_point_njtr,
              out_point_njtr_num_alloc,
              problem_size);
}

}  // namespace caspar