#include "kernel_simple_radial_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)
    SimpleRadialJtjnjtrDirectKernel(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, r29, r30;

  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<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,
                       r4,
                       r5,
                       r6,
                       r7);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    ReadIdx4<1024, float, float, float4>(calib_jac,
                                         0 * calib_jac_num_alloc,
                                         global_thread_idx,
                                         r8,
                                         r9,
                                         r10,
                                         r11);
    r6 = fmaf(r4, r8, r6);
    r6 = fmaf(r5, r10, r6);
  };
  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,
                       r12,
                       r13,
                       r14);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    ReadIdx2<1024, float, float, float2>(
        point_jac, 4 * point_jac_num_alloc, global_thread_idx, r15, r16);
    ReadIdx4<1024, float, float, float4>(point_jac,
                                         0 * point_jac_num_alloc,
                                         global_thread_idx,
                                         r17,
                                         r18,
                                         r19,
                                         r20);
    r21 = fmaf(r13, r19, r14 * r15);
    r21 = fmaf(r12, r17, r21);
    r22 = r6 + r21;
    r4 = fmaf(r4, r9, r7);
    r4 = fmaf(r5, r11, r4);
    r13 = fmaf(r13, r20, r14 * r16);
    r13 = fmaf(r12, r18, r13);
    r12 = r4 + r13;
    r14 = fmaf(r1, r12, r0 * r22);
    r5 = fmaf(r3, r12, r2 * r22);
    ReadIdx4<1024, float, float, float4>(
        pose_jac, 4 * pose_jac_num_alloc, global_thread_idx, r7, r23, r24, r25);
    r26 = fmaf(r23, r12, r7 * r22);
    r27 = fmaf(r25, r12, r24 * r22);
    WriteSum4<float, float>((float*)inout_shared, r14, r5, r26, r27);
  };
  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, r27, r26, r5, r14);
    r28 = fmaf(r26, r12, r27 * r22);
    r22 = fmaf(r5, r22, r14 * r12);
    WriteSum2<float, float>((float*)inout_shared, r28, r22);
  };
  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,
                       r22,
                       r28);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    r27 = fmaf(r22, r27, r28 * r5);
  };
  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,
                       r12,
                       r29,
                       r30);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    r27 = fmaf(r29, r7, r27);
    r27 = fmaf(r30, r24, r27);
    r27 = fmaf(r5, r0, r27);
    r27 = fmaf(r12, r2, r27);
    r21 = r27 + r21;
    r25 = fmaf(r30, r25, r28 * r14);
    r25 = fmaf(r29, r23, r25);
    r25 = fmaf(r5, r1, r25);
    r25 = fmaf(r12, r3, r25);
    r25 = fmaf(r22, r26, r25);
    r13 = r25 + r13;
    r9 = fmaf(r9, r13, r8 * r21);
    r11 = fmaf(r11, r13, r10 * r21);
    WriteSum4<float, float>((float*)inout_shared, r9, r11, r21, r13);
  };
  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) {
    r6 = r27 + r6;
    r4 = r25 + r4;
    r18 = fmaf(r18, r4, r17 * r6);
    r20 = fmaf(r20, r4, r19 * r6);
    r4 = fmaf(r16, r4, r15 * r6);
    WriteSum3<float, float>((float*)inout_shared, r18, r20, r4);
  };
  FlushSumShared<3, float>(out_point_njtr,
                           0 * out_point_njtr_num_alloc,
                           point_njtr_indices_loc,
                           (float*)inout_shared);
}

void SimpleRadialJtjnjtrDirect(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;
  SimpleRadialJtjnjtrDirectKernel<<<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