#include "kernel_PinholePose_update_p.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)
    PinholePoseUpdatePKernel(double* PinholePose_z,
                             unsigned int PinholePose_z_num_alloc,
                             double* PinholePose_p_k,
                             unsigned int PinholePose_p_k_num_alloc,
                             const double* const beta,
                             double* out_PinholePose_p_kp1,
                             unsigned int out_PinholePose_p_kp1_num_alloc,
                             size_t problem_size) {
  const int global_thread_idx = blockIdx.x * blockDim.x + threadIdx.x;
  __shared__ uint8_t inout_shared[8192];

  double r0, r1, r2, r3, r4;

  if (global_thread_idx < problem_size) {
    ReadIdx2<1024, double, double, double2>(PinholePose_p_k,
                                            0 * PinholePose_p_k_num_alloc,
                                            global_thread_idx,
                                            r0,
                                            r1);
    ReadIdx2<1024, double, double, double2>(
        PinholePose_z, 0 * PinholePose_z_num_alloc, global_thread_idx, r2, r3);
  };
  LoadUnique<1, double, double>(beta, 0, (double*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadShared1<double>((double*)inout_shared, 0, r4);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    r0 = fma(r0, r4, r2);
    r1 = fma(r1, r4, r3);
    WriteIdx2<1024, double, double, double2>(
        out_PinholePose_p_kp1,
        0 * out_PinholePose_p_kp1_num_alloc,
        global_thread_idx,
        r0,
        r1);
    ReadIdx2<1024, double, double, double2>(PinholePose_p_k,
                                            2 * PinholePose_p_k_num_alloc,
                                            global_thread_idx,
                                            r1,
                                            r0);
    ReadIdx2<1024, double, double, double2>(
        PinholePose_z, 2 * PinholePose_z_num_alloc, global_thread_idx, r3, r2);
    r1 = fma(r1, r4, r3);
    r0 = fma(r0, r4, r2);
    WriteIdx2<1024, double, double, double2>(
        out_PinholePose_p_kp1,
        2 * out_PinholePose_p_kp1_num_alloc,
        global_thread_idx,
        r1,
        r0);
    ReadIdx2<1024, double, double, double2>(PinholePose_p_k,
                                            4 * PinholePose_p_k_num_alloc,
                                            global_thread_idx,
                                            r0,
                                            r1);
    ReadIdx2<1024, double, double, double2>(
        PinholePose_z, 4 * PinholePose_z_num_alloc, global_thread_idx, r2, r3);
    r0 = fma(r0, r4, r2);
    r4 = fma(r1, r4, r3);
    WriteIdx2<1024, double, double, double2>(
        out_PinholePose_p_kp1,
        4 * out_PinholePose_p_kp1_num_alloc,
        global_thread_idx,
        r0,
        r4);
  };
}

void PinholePoseUpdateP(double* PinholePose_z,
                        unsigned int PinholePose_z_num_alloc,
                        double* PinholePose_p_k,
                        unsigned int PinholePose_p_k_num_alloc,
                        const double* const beta,
                        double* out_PinholePose_p_kp1,
                        unsigned int out_PinholePose_p_kp1_num_alloc,
                        size_t problem_size) {
  if (problem_size == 0) {
    return;
  }

  const int n_blocks = (problem_size + 1024 - 1) / 1024;
  PinholePoseUpdatePKernel<<<n_blocks, 1024>>>(PinholePose_z,
                                               PinholePose_z_num_alloc,
                                               PinholePose_p_k,
                                               PinholePose_p_k_num_alloc,
                                               beta,
                                               out_PinholePose_p_kp1,
                                               out_PinholePose_p_kp1_num_alloc,
                                               problem_size);
}

}  // namespace caspar