#include "kernel_pinhole_split_fixed_focal_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)
    PinholeSplitFixedFocalFixedPointJtjnjtrDirectKernel(
        double* pose_njtr,
        unsigned int pose_njtr_num_alloc,
        SharedIndex* pose_njtr_indices,
        double* pose_jac,
        unsigned int pose_jac_num_alloc,
        double* principal_point_njtr,
        unsigned int principal_point_njtr_num_alloc,
        SharedIndex* principal_point_njtr_indices,
        double* principal_point_jac,
        unsigned int principal_point_jac_num_alloc,
        double* const out_pose_njtr,
        unsigned int out_pose_njtr_num_alloc,
        double* const out_principal_point_njtr,
        unsigned int out_principal_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 principal_point_njtr_indices_loc[1024];
  principal_point_njtr_indices_loc[threadIdx.x] =
      (global_thread_idx < problem_size
           ? principal_point_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;

  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>(principal_point_njtr,
                                0 * principal_point_njtr_num_alloc,
                                principal_point_njtr_indices_loc,
                                (double*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadShared2<double>((double*)inout_shared,
                        principal_point_njtr_indices_loc[threadIdx.x].target,
                        r2,
                        r3);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    r4 = fma(r1, r3, r0 * r2);
    ReadIdx2<1024, double, double, double2>(
        pose_jac, 2 * pose_jac_num_alloc, global_thread_idx, r5, r6);
    r7 = fma(r6, r3, r5 * r2);
    WriteSum2<double, double>((double*)inout_shared, r4, r7);
  };
  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, r7, r4);
    r8 = fma(r4, r3, r7 * r2);
    ReadIdx2<1024, double, double, double2>(
        pose_jac, 6 * pose_jac_num_alloc, global_thread_idx, r9, r10);
    r11 = fma(r10, r3, r9 * r2);
    WriteSum2<double, double>((double*)inout_shared, r8, r11);
  };
  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, r11, r8);
    r12 = fma(r8, r3, r11 * r2);
    ReadIdx2<1024, double, double, double2>(
        pose_jac, 10 * pose_jac_num_alloc, global_thread_idx, r13, r14);
    r3 = fma(r14, r3, r13 * r2);
    WriteSum2<double, double>((double*)inout_shared, r12, 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,
                        r12);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    r11 = fma(r3, r11, r12 * r13);
  };
  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,
                        r13,
                        r2);
  };
  __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,
                        r15,
                        r16);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    r11 = fma(r13, r7, r11);
    r11 = fma(r2, r9, r11);
    r11 = fma(r15, r0, r11);
    r11 = fma(r16, r5, r11);
    r10 = fma(r2, r10, r12 * r14);
    r10 = fma(r13, r4, r10);
    r10 = fma(r15, r1, r10);
    r10 = fma(r16, r6, r10);
    r10 = fma(r3, r8, r10);
    WriteSum2<double, double>((double*)inout_shared, r11, r10);
  };
  FlushSumShared<2, double>(out_principal_point_njtr,
                            0 * out_principal_point_njtr_num_alloc,
                            principal_point_njtr_indices_loc,
                            (double*)inout_shared);
}

void PinholeSplitFixedFocalFixedPointJtjnjtrDirect(
    double* pose_njtr,
    unsigned int pose_njtr_num_alloc,
    SharedIndex* pose_njtr_indices,
    double* pose_jac,
    unsigned int pose_jac_num_alloc,
    double* principal_point_njtr,
    unsigned int principal_point_njtr_num_alloc,
    SharedIndex* principal_point_njtr_indices,
    double* principal_point_jac,
    unsigned int principal_point_jac_num_alloc,
    double* const out_pose_njtr,
    unsigned int out_pose_njtr_num_alloc,
    double* const out_principal_point_njtr,
    unsigned int out_principal_point_njtr_num_alloc,
    size_t problem_size) {
  if (problem_size == 0) {
    return;
  }

  const int n_blocks = (problem_size + 1024 - 1) / 1024;
  PinholeSplitFixedFocalFixedPointJtjnjtrDirectKernel<<<n_blocks, 1024>>>(
      pose_njtr,
      pose_njtr_num_alloc,
      pose_njtr_indices,
      pose_jac,
      pose_jac_num_alloc,
      principal_point_njtr,
      principal_point_njtr_num_alloc,
      principal_point_njtr_indices,
      principal_point_jac,
      principal_point_jac_num_alloc,
      out_pose_njtr,
      out_pose_njtr_num_alloc,
      out_principal_point_njtr,
      out_principal_point_njtr_num_alloc,
      problem_size);
}

}  // namespace caspar