#include "kernel_PinholeCalib_update_step.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) PinholeCalibUpdateStepKernel(
    float* PinholeCalib_step_k,
    unsigned int PinholeCalib_step_k_num_alloc,
    float* PinholeCalib_p_kp1,
    unsigned int PinholeCalib_p_kp1_num_alloc,
    const float* const alpha,
    float* out_PinholeCalib_step_kp1,
    unsigned int out_PinholeCalib_step_kp1_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>(PinholeCalib_step_k,
                                         0 * PinholeCalib_step_k_num_alloc,
                                         global_thread_idx,
                                         r0,
                                         r1,
                                         r2,
                                         r3);
    ReadIdx4<1024, float, float, float4>(PinholeCalib_p_kp1,
                                         0 * PinholeCalib_p_kp1_num_alloc,
                                         global_thread_idx,
                                         r4,
                                         r5,
                                         r6,
                                         r7);
  };
  LoadUnique<1, float, float>(alpha, 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);
    r8 = fmaf(r7, r8, r3);
    WriteIdx4<1024, float, float, float4>(
        out_PinholeCalib_step_kp1,
        0 * out_PinholeCalib_step_kp1_num_alloc,
        global_thread_idx,
        r4,
        r5,
        r6,
        r8);
  };
}

void PinholeCalibUpdateStep(float* PinholeCalib_step_k,
                            unsigned int PinholeCalib_step_k_num_alloc,
                            float* PinholeCalib_p_kp1,
                            unsigned int PinholeCalib_p_kp1_num_alloc,
                            const float* const alpha,
                            float* out_PinholeCalib_step_kp1,
                            unsigned int out_PinholeCalib_step_kp1_num_alloc,
                            size_t problem_size) {
  if (problem_size == 0) {
    return;
  }

  const int n_blocks = (problem_size + 1024 - 1) / 1024;
  PinholeCalibUpdateStepKernel<<<n_blocks, 1024>>>(
      PinholeCalib_step_k,
      PinholeCalib_step_k_num_alloc,
      PinholeCalib_p_kp1,
      PinholeCalib_p_kp1_num_alloc,
      alpha,
      out_PinholeCalib_step_kp1,
      out_PinholeCalib_step_kp1_num_alloc,
      problem_size);
}

}  // namespace caspar