#include "kernel_PinholePose_update_r.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)
    PinholePoseUpdateRKernel(float* PinholePose_r_k,
                             unsigned int PinholePose_r_k_num_alloc,
                             float* PinholePose_w,
                             unsigned int PinholePose_w_num_alloc,
                             const float* const negalpha,
                             float* out_PinholePose_r_kp1,
                             unsigned int out_PinholePose_r_kp1_num_alloc,
                             float* const out_PinholePose_r_kp1_norm2_tot,
                             size_t problem_size) {
  const int global_thread_idx = blockIdx.x * blockDim.x + threadIdx.x;
  __shared__ uint8_t inout_shared[4096];

  __shared__ float out_PinholePose_r_kp1_norm2_tot_local[1];

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

  if (global_thread_idx < problem_size) {
    ReadIdx4<1024, float, float, float4>(PinholePose_r_k,
                                         0 * PinholePose_r_k_num_alloc,
                                         global_thread_idx,
                                         r0,
                                         r1,
                                         r2,
                                         r3);
    ReadIdx4<1024, float, float, float4>(PinholePose_w,
                                         0 * PinholePose_w_num_alloc,
                                         global_thread_idx,
                                         r4,
                                         r5,
                                         r6,
                                         r7);
  };
  LoadUnique<1, float, float>(negalpha, 0, (float*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadShared1<float>((float*)inout_shared, 0, r8);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    r4 = fmaf(r4, r8, r0);
    r5 = fmaf(r5, r8, r1);
    r6 = fmaf(r6, r8, r2);
    r7 = fmaf(r7, r8, r3);
    WriteIdx4<1024, float, float, float4>(out_PinholePose_r_kp1,
                                          0 * out_PinholePose_r_kp1_num_alloc,
                                          global_thread_idx,
                                          r4,
                                          r5,
                                          r6,
                                          r7);
    ReadIdx2<1024, float, float, float2>(PinholePose_r_k,
                                         4 * PinholePose_r_k_num_alloc,
                                         global_thread_idx,
                                         r3,
                                         r2);
    ReadIdx2<1024, float, float, float2>(
        PinholePose_w, 4 * PinholePose_w_num_alloc, global_thread_idx, r1, r0);
    r1 = fmaf(r1, r8, r3);
    r8 = fmaf(r0, r8, r2);
    WriteIdx2<1024, float, float, float2>(out_PinholePose_r_kp1,
                                          4 * out_PinholePose_r_kp1_num_alloc,
                                          global_thread_idx,
                                          r1,
                                          r8);
    r7 = fmaf(r7, r7, r1 * r1);
    r7 = fmaf(r4, r4, r7);
    r7 = fmaf(r5, r5, r7);
    r7 = fmaf(r6, r6, r7);
    r7 = fmaf(r8, r8, r7);
  };
  SumStore<float>(out_PinholePose_r_kp1_norm2_tot_local,
                  (float*)inout_shared,
                  0,
                  global_thread_idx < problem_size,
                  r7);
  SumFlushFinal<float>(out_PinholePose_r_kp1_norm2_tot_local,
                       out_PinholePose_r_kp1_norm2_tot,
                       1);
}

void PinholePoseUpdateR(float* PinholePose_r_k,
                        unsigned int PinholePose_r_k_num_alloc,
                        float* PinholePose_w,
                        unsigned int PinholePose_w_num_alloc,
                        const float* const negalpha,
                        float* out_PinholePose_r_kp1,
                        unsigned int out_PinholePose_r_kp1_num_alloc,
                        float* const out_PinholePose_r_kp1_norm2_tot,
                        size_t problem_size) {
  if (problem_size == 0) {
    return;
  }

  const int n_blocks = (problem_size + 1024 - 1) / 1024;
  PinholePoseUpdateRKernel<<<n_blocks, 1024>>>(PinholePose_r_k,
                                               PinholePose_r_k_num_alloc,
                                               PinholePose_w,
                                               PinholePose_w_num_alloc,
                                               negalpha,
                                               out_PinholePose_r_kp1,
                                               out_PinholePose_r_kp1_num_alloc,
                                               out_PinholePose_r_kp1_norm2_tot,
                                               problem_size);
}

}  // namespace caspar