// Copyright (c) OpenMMLab. All rights reserved.
#ifndef VOXELIZATION_CUDA_KERNEL_CUH
#define VOXELIZATION_CUDA_KERNEL_CUH

#ifdef MMCV_USE_PARROTS
#include "parrots_cuda_helper.hpp"
#else
#include "pytorch_cuda_helper.hpp"
#endif

typedef enum { SUM = 0, MEAN = 1, MAX = 2 } reduce_t;

template <typename T, typename T_int>
__global__ void dynamic_voxelize_kernel(
    const T* points, T_int* coors, const float voxel_x, const float voxel_y,
    const float voxel_z, const float coors_x_min, const float coors_y_min,
    const float coors_z_min, const float coors_x_max, const float coors_y_max,
    const float coors_z_max, const int grid_x, const int grid_y,
    const int grid_z, const int num_points, const int num_features,
    const int NDim) {
  //   const int index = blockIdx.x * threadsPerBlock + threadIdx.x;
  CUDA_1D_KERNEL_LOOP(index, num_points) {
    // To save some computation
    auto points_offset = points + index * num_features;
    auto coors_offset = coors + index * NDim;
    int c_x = floorf((points_offset[0] - coors_x_min) / voxel_x);
    if (c_x < 0 || c_x >= grid_x) {
      coors_offset[0] = -1;
      continue;
    }

    int c_y = floorf((points_offset[1] - coors_y_min) / voxel_y);
    if (c_y < 0 || c_y >= grid_y) {
      coors_offset[0] = -1;
      coors_offset[1] = -1;
      continue;
    }

    int c_z = floorf((points_offset[2] - coors_z_min) / voxel_z);
    if (c_z < 0 || c_z >= grid_z) {
      coors_offset[0] = -1;
      coors_offset[1] = -1;
      coors_offset[2] = -1;
    } else {
      coors_offset[0] = c_z;
      coors_offset[1] = c_y;
      coors_offset[2] = c_x;
    }
  }
}

template <typename T, typename T_int>
__global__ void assign_point_to_voxel(const int nthreads, const T* points,
                                      T_int* point_to_voxelidx,
                                      T_int* coor_to_voxelidx, T* voxels,
                                      const int max_points,
                                      const int num_features,
                                      const int num_points, const int NDim) {
  CUDA_1D_KERNEL_LOOP(thread_idx, nthreads) {
    // const int index = blockIdx.x * threadsPerBlock + threadIdx.x;
    int index = thread_idx / num_features;

    int num = point_to_voxelidx[index];
    int voxelidx = coor_to_voxelidx[index];
    if (num > -1 && voxelidx > -1) {
      auto voxels_offset =
          voxels + voxelidx * max_points * num_features + num * num_features;

      int k = thread_idx % num_features;
      voxels_offset[k] = points[thread_idx];
    }
  }
}

template <typename T, typename T_int>
__global__ void assign_voxel_coors(const int nthreads, T_int* coor,
                                   T_int* point_to_voxelidx,
                                   T_int* coor_to_voxelidx, T_int* voxel_coors,
                                   const int num_points, const int NDim) {
  CUDA_1D_KERNEL_LOOP(thread_idx, nthreads) {
    // const int index = blockIdx.x * threadsPerBlock + threadIdx.x;
    // if (index >= num_points) return;
    int index = thread_idx / NDim;
    int num = point_to_voxelidx[index];
    int voxelidx = coor_to_voxelidx[index];
    if (num == 0 && voxelidx > -1) {
      auto coors_offset = voxel_coors + voxelidx * NDim;
      int k = thread_idx % NDim;
      coors_offset[k] = coor[thread_idx];
    }
  }
}

template <typename T_int>
__global__ void point_to_voxelidx_kernel(const T_int* coor,
                                         T_int* point_to_voxelidx,
                                         T_int* point_to_pointidx,
                                         const int max_points,
                                         const int max_voxels,
                                         const int num_points, const int NDim) {
  CUDA_1D_KERNEL_LOOP(index, num_points) {
    auto coor_offset = coor + index * NDim;
    // skip invalid points
    if (coor_offset[0] == -1) return;

    int num = 0;
    int coor_x = coor_offset[0];
    int coor_y = coor_offset[1];
    int coor_z = coor_offset[2];
    // only calculate the coors before this coor[index]
    for (int i = 0; i < index; ++i) {
      auto prev_coor = coor + i * NDim;
      if (prev_coor[0] == -1) continue;

      // Find all previous points that have the same coors
      // if find the same coor, record it
      if ((prev_coor[0] == coor_x) && (prev_coor[1] == coor_y) &&
          (prev_coor[2] == coor_z)) {
        num++;
        if (num == 1) {
          // point to the same coor that first show up
          point_to_pointidx[index] = i;
        } else if (num >= max_points) {
          // out of boundary
          return;
        }
      }
    }
    if (num == 0) {
      point_to_pointidx[index] = index;
    }
    if (num < max_points) {
      point_to_voxelidx[index] = num;
    }
  }
}

template <typename T_int>
__global__ void determin_voxel_num(
    // const T_int* coor,
    T_int* num_points_per_voxel, T_int* point_to_voxelidx,
    T_int* point_to_pointidx, T_int* coor_to_voxelidx, T_int* voxel_num,
    const int max_points, const int max_voxels, const int num_points) {
  // only calculate the coors before this coor[index]
  for (int i = 0; i < num_points; ++i) {
    int point_pos_in_voxel = point_to_voxelidx[i];
    // record voxel
    if (point_pos_in_voxel == -1) {
      // out of max_points or invalid point
      continue;
    } else if (point_pos_in_voxel == 0) {
      // record new voxel
      int voxelidx = voxel_num[0];
      if (voxel_num[0] >= max_voxels) continue;
      voxel_num[0] += 1;
      coor_to_voxelidx[i] = voxelidx;
      num_points_per_voxel[voxelidx] = 1;
    } else {
      int point_idx = point_to_pointidx[i];
      int voxelidx = coor_to_voxelidx[point_idx];
      if (voxelidx != -1) {
        coor_to_voxelidx[i] = voxelidx;
        num_points_per_voxel[voxelidx] += 1;
      }
    }
  }
}

#endif  // VOXELIZATION_CUDA_KERNEL_CUH
