// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
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// Copyright (c) 2018-2021 www.open3d.org
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// ----------------------------------------------------------------------------
//
#include <vector>

#include "ATen/cuda/CUDAContext.h"
#include "open3d/ml/impl/continuous_conv/ContinuousConvBackpropFilter.cuh"
#include "open3d/ml/pytorch/TorchHelper.h"
#include "torch/script.h"

using namespace open3d::ml::impl;

template <class TFeat, class TOut, class TReal, class TIndex>
void ContinuousConvBackpropFilterCUDA(
        const torch::Tensor& filters,
        const torch::Tensor& out_positions,
        const torch::Tensor& extents,
        const torch::Tensor& offset,
        const torch::Tensor& inp_positions,
        const torch::Tensor& inp_features,
        const torch::Tensor& inp_importance,
        const torch::Tensor& neighbors_index,
        const torch::Tensor& neighbors_importance,
        const torch::Tensor& neighbors_row_splits,
        const torch::Tensor& out_features_gradient,
        const bool align_corners,
        const open3d::ml::impl::CoordinateMapping coordinate_mapping,
        const bool normalize,
        const open3d::ml::impl::InterpolationMode interpolation,
        const int64_t max_temp_mem_MB,
        torch::Tensor& filter_backprop) {
    const bool individual_extents = extents.size(0) > 1;
    const bool isotropic_extents = extents.size(1) == 1;
    std::vector<int> filter_dims;
    for (auto d : filters.sizes()) {
        filter_dims.push_back(d);
    }

    auto stream = at::cuda::getCurrentCUDAStream();
    auto cuda_device_props = at::cuda::getCurrentDeviceProperties();
    const int texture_alignment = cuda_device_props->textureAlignment;

    auto device = filters.device();

    void* temp_ptr = nullptr;
    size_t temp_size = 0;
    size_t max_temp_size = 0;

    // determine temp_size
    CConvBackpropFilterCUDA<TFeat, TOut, TReal, TIndex>(
            stream, temp_ptr, temp_size, max_temp_size, texture_alignment,
            filter_backprop.data_ptr<TOut>(), filter_dims,
            out_positions.size(0), out_positions.data_ptr<TReal>(),
            inp_positions.size(0), inp_positions.data_ptr<TReal>(),
            inp_features.data_ptr<TFeat>(),
            inp_importance.size(0) ? inp_importance.data_ptr<TFeat>() : nullptr,
            neighbors_index.size(0), neighbors_index.data_ptr<TIndex>(),
            neighbors_importance.size(0)
                    ? neighbors_importance.data_ptr<TFeat>()
                    : nullptr,
            neighbors_row_splits.data_ptr<int64_t>(), extents.data_ptr<TReal>(),
            offset.data_ptr<TReal>(), out_features_gradient.data_ptr<TFeat>(),
            interpolation, coordinate_mapping, align_corners,
            individual_extents, isotropic_extents, normalize);

    temp_size = std::max(
            std::min(size_t(max_temp_mem_MB) * 1024 * 1024, max_temp_size),
            temp_size);

    auto temp_tensor = CreateTempTensor(temp_size, device, &temp_ptr);

    // actually run the operation
    CConvBackpropFilterCUDA<TFeat, TOut, TReal, TIndex>(
            stream, temp_ptr, temp_size, max_temp_size, texture_alignment,
            filter_backprop.data_ptr<TOut>(), filter_dims,
            out_positions.size(0), out_positions.data_ptr<TReal>(),
            inp_positions.size(0), inp_positions.data_ptr<TReal>(),
            inp_features.data_ptr<TFeat>(),
            inp_importance.size(0) ? inp_importance.data_ptr<TFeat>() : nullptr,
            neighbors_index.size(0), neighbors_index.data_ptr<TIndex>(),
            neighbors_importance.size(0)
                    ? neighbors_importance.data_ptr<TFeat>()
                    : nullptr,
            neighbors_row_splits.data_ptr<int64_t>(), extents.data_ptr<TReal>(),
            offset.data_ptr<TReal>(), out_features_gradient.data_ptr<TFeat>(),
            interpolation, coordinate_mapping, align_corners,
            individual_extents, isotropic_extents, normalize);
}
#define INSTANTIATE(TFeat, TOut, TReal, TIndex)                               \
    template void                                                             \
    ContinuousConvBackpropFilterCUDA<TFeat, TOut, TReal, TIndex>(             \
            const torch::Tensor& filters, const torch::Tensor& out_positions, \
            const torch::Tensor& extents, const torch::Tensor& offset,        \
            const torch::Tensor& inp_positions,                               \
            const torch::Tensor& inp_features,                                \
            const torch::Tensor& inp_importance,                              \
            const torch::Tensor& neighbors_index,                             \
            const torch::Tensor& neighbors_importance,                        \
            const torch::Tensor& neighbors_row_splits,                        \
            const torch::Tensor& out_features_gradient,                       \
            const bool align_corners,                                         \
            const open3d::ml::impl::CoordinateMapping coordinate_mapping,     \
            const bool normalize,                                             \
            const open3d::ml::impl::InterpolationMode interpolation,          \
            const int64_t max_temp_mem_MB, torch::Tensor& filter_backprop);

INSTANTIATE(float, float, float, int32_t)
