#include "kernel_PinholePose_update_Mp.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)
    PinholePoseUpdateMpKernel(float* PinholePose_r_k,
                              unsigned int PinholePose_r_k_num_alloc,
                              float* PinholePose_Mp,
                              unsigned int PinholePose_Mp_num_alloc,
                              const float* const beta,
                              float* out_PinholePose_Mp_kp1,
                              unsigned int out_PinholePose_Mp_kp1_num_alloc,
                              float* out_PinholePose_w,
                              unsigned int out_PinholePose_w_num_alloc,
                              size_t problem_size) {
  const int global_thread_idx = blockIdx.x * blockDim.x + threadIdx.x;
  __shared__ uint8_t inout_shared[4096];

  float r0, r1, r2, r3, r4, r5, r6, r7, r8;

  if (global_thread_idx < problem_size) {
    ReadIdx4<1024, float, float, float4>(PinholePose_Mp,
                                         0 * PinholePose_Mp_num_alloc,
                                         global_thread_idx,
                                         r0,
                                         r1,
                                         r2,
                                         r3);
    ReadIdx4<1024, float, float, float4>(PinholePose_r_k,
                                         0 * PinholePose_r_k_num_alloc,
                                         global_thread_idx,
                                         r4,
                                         r5,
                                         r6,
                                         r7);
  };
  LoadUnique<1, float, float>(beta, 0, (float*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadShared1<float>((float*)inout_shared, 0, r8);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    r0 = fmaf(r0, r8, r4);
    r1 = fmaf(r1, r8, r5);
    r2 = fmaf(r2, r8, r6);
    r3 = fmaf(r3, r8, r7);
    WriteIdx4<1024, float, float, float4>(out_PinholePose_Mp_kp1,
                                          0 * out_PinholePose_Mp_kp1_num_alloc,
                                          global_thread_idx,
                                          r0,
                                          r1,
                                          r2,
                                          r3);
    ReadIdx2<1024, float, float, float2>(PinholePose_Mp,
                                         4 * PinholePose_Mp_num_alloc,
                                         global_thread_idx,
                                         r7,
                                         r6);
    ReadIdx2<1024, float, float, float2>(PinholePose_r_k,
                                         4 * PinholePose_r_k_num_alloc,
                                         global_thread_idx,
                                         r5,
                                         r4);
    r7 = fmaf(r7, r8, r5);
    r8 = fmaf(r6, r8, r4);
    WriteIdx2<1024, float, float, float2>(out_PinholePose_Mp_kp1,
                                          4 * out_PinholePose_Mp_kp1_num_alloc,
                                          global_thread_idx,
                                          r7,
                                          r8);
    WriteIdx4<1024, float, float, float4>(out_PinholePose_w,
                                          0 * out_PinholePose_w_num_alloc,
                                          global_thread_idx,
                                          r0,
                                          r1,
                                          r2,
                                          r3);
    WriteIdx2<1024, float, float, float2>(out_PinholePose_w,
                                          4 * out_PinholePose_w_num_alloc,
                                          global_thread_idx,
                                          r7,
                                          r8);
  };
}

void PinholePoseUpdateMp(float* PinholePose_r_k,
                         unsigned int PinholePose_r_k_num_alloc,
                         float* PinholePose_Mp,
                         unsigned int PinholePose_Mp_num_alloc,
                         const float* const beta,
                         float* out_PinholePose_Mp_kp1,
                         unsigned int out_PinholePose_Mp_kp1_num_alloc,
                         float* out_PinholePose_w,
                         unsigned int out_PinholePose_w_num_alloc,
                         size_t problem_size) {
  if (problem_size == 0) {
    return;
  }

  const int n_blocks = (problem_size + 1024 - 1) / 1024;
  PinholePoseUpdateMpKernel<<<n_blocks, 1024>>>(
      PinholePose_r_k,
      PinholePose_r_k_num_alloc,
      PinholePose_Mp,
      PinholePose_Mp_num_alloc,
      beta,
      out_PinholePose_Mp_kp1,
      out_PinholePose_Mp_kp1_num_alloc,
      out_PinholePose_w,
      out_PinholePose_w_num_alloc,
      problem_size);
}

}  // namespace caspar