#include "kernel_simple_radial_split_fixed_pose_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)
    SimpleRadialSplitFixedPoseFixedPrincipalPointJtjnjtrDirectKernel(
        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* point_njtr,
        unsigned int point_njtr_num_alloc,
        SharedIndex* point_njtr_indices,
        double* point_jac,
        unsigned int point_jac_num_alloc,
        double* const out_focal_and_extra_njtr,
        unsigned int out_focal_and_extra_njtr_num_alloc,
        double* 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 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});

  __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});

  double r0, r1, r2, r3, r4, r5, r6, r7, r8, r9, r10, r11, r12;

  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,
                                            r0,
                                            r1);
  };
  LoadShared<1, double, double>(point_njtr,
                                2 * point_njtr_num_alloc,
                                point_njtr_indices_loc,
                                (double*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadShared1<double>(
        (double*)inout_shared, point_njtr_indices_loc[threadIdx.x].target, r2);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    ReadIdx2<1024, double, double, double2>(
        point_jac, 4 * point_jac_num_alloc, global_thread_idx, r3, r4);
  };
  LoadShared<2, double, double>(point_njtr,
                                0 * point_njtr_num_alloc,
                                point_njtr_indices_loc,
                                (double*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadShared2<double>((double*)inout_shared,
                        point_njtr_indices_loc[threadIdx.x].target,
                        r5,
                        r6);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    ReadIdx2<1024, double, double, double2>(
        point_jac, 2 * point_jac_num_alloc, global_thread_idx, r7, r8);
    r9 = fma(r6, r7, r2 * r3);
    ReadIdx2<1024, double, double, double2>(
        point_jac, 0 * point_jac_num_alloc, global_thread_idx, r10, r11);
    r9 = fma(r5, r10, r9);
    r6 = fma(r6, r8, r2 * r4);
    r6 = fma(r5, r11, r6);
    r5 = fma(r1, r6, r0 * r9);
    ReadIdx2<1024, double, double, double2>(focal_and_extra_jac,
                                            2 * focal_and_extra_jac_num_alloc,
                                            global_thread_idx,
                                            r2,
                                            r12);
    r6 = fma(r12, r6, r2 * r9);
    WriteSum2<double, double>((double*)inout_shared, r5, r6);
  };
  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);
  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,
                        r6,
                        r5);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    r2 = fma(r5, r2, r6 * r0);
    r12 = fma(r5, r12, r6 * r1);
    r11 = fma(r11, r12, r10 * r2);
    r8 = fma(r8, r12, r7 * r2);
    WriteSum2<double, double>((double*)inout_shared, r11, r8);
  };
  FlushSumShared<2, double>(out_point_njtr,
                            0 * out_point_njtr_num_alloc,
                            point_njtr_indices_loc,
                            (double*)inout_shared);
  if (global_thread_idx < problem_size) {
    r12 = fma(r4, r12, r3 * r2);
    WriteSum1<double, double>((double*)inout_shared, r12);
  };
  FlushSumShared<1, double>(out_point_njtr,
                            2 * out_point_njtr_num_alloc,
                            point_njtr_indices_loc,
                            (double*)inout_shared);
}

void SimpleRadialSplitFixedPoseFixedPrincipalPointJtjnjtrDirect(
    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* point_njtr,
    unsigned int point_njtr_num_alloc,
    SharedIndex* point_njtr_indices,
    double* point_jac,
    unsigned int point_jac_num_alloc,
    double* const out_focal_and_extra_njtr,
    unsigned int out_focal_and_extra_njtr_num_alloc,
    double* 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;
  SimpleRadialSplitFixedPoseFixedPrincipalPointJtjnjtrDirectKernel<<<n_blocks,
                                                                     1024>>>(
      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,
      point_njtr,
      point_njtr_num_alloc,
      point_njtr_indices,
      point_jac,
      point_jac_num_alloc,
      out_focal_and_extra_njtr,
      out_focal_and_extra_njtr_num_alloc,
      out_point_njtr,
      out_point_njtr_num_alloc,
      problem_size);
}

}  // namespace caspar