#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(double* PinholePose_r_k,
                             unsigned int PinholePose_r_k_num_alloc,
                             double* PinholePose_w,
                             unsigned int PinholePose_w_num_alloc,
                             const double* const negalpha,
                             double* out_PinholePose_r_kp1,
                             unsigned int out_PinholePose_r_kp1_num_alloc,
                             double* 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[8192];

  __shared__ double out_PinholePose_r_kp1_norm2_tot_local[1];

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

  if (global_thread_idx < problem_size) {
    ReadIdx2<1024, double, double, double2>(PinholePose_r_k,
                                            0 * PinholePose_r_k_num_alloc,
                                            global_thread_idx,
                                            r0,
                                            r1);
    ReadIdx2<1024, double, double, double2>(
        PinholePose_w, 0 * PinholePose_w_num_alloc, global_thread_idx, r2, r3);
  };
  LoadUnique<1, double, double>(negalpha, 0, (double*)inout_shared);
  if (global_thread_idx < problem_size) {
    ReadShared1<double>((double*)inout_shared, 0, r4);
  };
  __syncthreads();
  if (global_thread_idx < problem_size) {
    r2 = fma(r2, r4, r0);
    r3 = fma(r3, r4, r1);
    WriteIdx2<1024, double, double, double2>(
        out_PinholePose_r_kp1,
        0 * out_PinholePose_r_kp1_num_alloc,
        global_thread_idx,
        r2,
        r3);
    ReadIdx2<1024, double, double, double2>(PinholePose_r_k,
                                            2 * PinholePose_r_k_num_alloc,
                                            global_thread_idx,
                                            r1,
                                            r0);
    ReadIdx2<1024, double, double, double2>(
        PinholePose_w, 2 * PinholePose_w_num_alloc, global_thread_idx, r5, r6);
    r5 = fma(r5, r4, r1);
    r6 = fma(r6, r4, r0);
    WriteIdx2<1024, double, double, double2>(
        out_PinholePose_r_kp1,
        2 * out_PinholePose_r_kp1_num_alloc,
        global_thread_idx,
        r5,
        r6);
    ReadIdx2<1024, double, double, double2>(PinholePose_r_k,
                                            4 * PinholePose_r_k_num_alloc,
                                            global_thread_idx,
                                            r0,
                                            r1);
    ReadIdx2<1024, double, double, double2>(
        PinholePose_w, 4 * PinholePose_w_num_alloc, global_thread_idx, r7, r8);
    r7 = fma(r7, r4, r0);
    r4 = fma(r8, r4, r1);
    WriteIdx2<1024, double, double, double2>(
        out_PinholePose_r_kp1,
        4 * out_PinholePose_r_kp1_num_alloc,
        global_thread_idx,
        r7,
        r4);
    r6 = fma(r6, r6, r7 * r7);
    r6 = fma(r2, r2, r6);
    r6 = fma(r3, r3, r6);
    r6 = fma(r5, r5, r6);
    r6 = fma(r4, r4, r6);
  };
  SumStore<double>(out_PinholePose_r_kp1_norm2_tot_local,
                   (double*)inout_shared,
                   0,
                   global_thread_idx < problem_size,
                   r6);
  SumFlushFinal<double>(out_PinholePose_r_kp1_norm2_tot_local,
                        out_PinholePose_r_kp1_norm2_tot,
                        1);
}

void PinholePoseUpdateR(double* PinholePose_r_k,
                        unsigned int PinholePose_r_k_num_alloc,
                        double* PinholePose_w,
                        unsigned int PinholePose_w_num_alloc,
                        const double* const negalpha,
                        double* out_PinholePose_r_kp1,
                        unsigned int out_PinholePose_r_kp1_num_alloc,
                        double* 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