/*
 * SPDX-FileCopyrightText: Copyright (c) 1993-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 * SPDX-License-Identifier: Apache-2.0
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef TRT_VOXEL_GENERATOR_H
#define TRT_VOXEL_GENERATOR_H

#include "NvInferPlugin.h"
#include "common/bboxUtils.h"
#include "common/kernels/kernel.h"
#include <cuda_runtime_api.h>
#include <memory>
#include <string>
#include <vector>

namespace nvinfer1
{
namespace plugin
{

class VoxelGeneratorPlugin : public nvinfer1::IPluginV2DynamicExt
{
public:
    VoxelGeneratorPlugin() = delete;
    VoxelGeneratorPlugin(int32_t maxVoxels, int32_t maxPoints, int32_t voxelFeatures, float xMin, float xMax, float yMin,
        float yMax, float zMin, float zMax, float pillarX, float pillarY, float pillarZ);
    VoxelGeneratorPlugin(int32_t maxVoxels, int32_t maxPoints, int32_t voxelFeatures, float xMin, float xMax, float yMin,
        float yMax, float zMin, float zMax, float pillarX, float pillarY, float pillarZ, int32_t pointFeatures,
        int32_t gridX, int32_t gridY, int32_t gridZ);
    VoxelGeneratorPlugin(void const* data, size_t length);
    // IPluginV2DynamicExt Methods
    nvinfer1::IPluginV2DynamicExt* clone() const noexcept override;
    nvinfer1::DimsExprs getOutputDimensions(int32_t outputIndex, nvinfer1::DimsExprs const* inputs, int32_t nbInputs,
        nvinfer1::IExprBuilder& exprBuilder) noexcept override;
    bool supportsFormatCombination(
        int32_t pos, nvinfer1::PluginTensorDesc const* inOut, int32_t nbInputs, int32_t nbOutputs) noexcept override;
    void configurePlugin(nvinfer1::DynamicPluginTensorDesc const* in, int32_t nbInputs,
        nvinfer1::DynamicPluginTensorDesc const* out, int32_t nbOutputs) noexcept override;
    size_t getWorkspaceSize(nvinfer1::PluginTensorDesc const* inputs, int32_t nbInputs,
        nvinfer1::PluginTensorDesc const* outputs, int32_t nbOutputs) const noexcept override;
    int32_t enqueue(nvinfer1::PluginTensorDesc const* inputDesc, nvinfer1::PluginTensorDesc const* outputDesc,
        void const* const* inputs, void* const* outputs, void* workspace, cudaStream_t stream) noexcept override;
    // IPluginV2Ext Methods
    nvinfer1::DataType getOutputDataType(
        int32_t index, nvinfer1::DataType const* inputTypes, int32_t nbInputs) const noexcept override;
    // IPluginV2 Methods
    char const* getPluginType() const noexcept override;
    char const* getPluginVersion() const noexcept override;
    int32_t getNbOutputs() const noexcept override;
    int32_t initialize() noexcept override;
    void terminate() noexcept override;
    size_t getSerializationSize() const noexcept override;
    void serialize(void* buffer) const noexcept override;
    void destroy() noexcept override;
    void setPluginNamespace(char const* pluginNamespace) noexcept override;
    char const* getPluginNamespace() const noexcept override;

private:
    std::string mNamespace;
    // Shape Num for *input*
    int32_t mPillarNum;
    int32_t mPointNum;
    int32_t mFeatureNum;
    float mMinXRange;
    float mMaxXRange;
    float mMinYRange;
    float mMaxYRange;
    float mMinZRange;
    float mMaxZRange;
    float mPillarXSize;
    float mPillarYSize;
    float mPillarZSize;
    // feature number of pointcloud points: 4 or 5
    int32_t mPointFeatureNum;
    int32_t mGridXSize;
    int32_t mGridYSize;
    int32_t mGridZSize;
};

class VoxelGeneratorPluginCreator : public nvinfer1::IPluginCreator
{
public:
    VoxelGeneratorPluginCreator();
    char const* getPluginName() const noexcept override;
    char const* getPluginVersion() const noexcept override;
    nvinfer1::PluginFieldCollection const* getFieldNames() noexcept override;
    nvinfer1::IPluginV2* createPlugin(char const* name, nvinfer1::PluginFieldCollection const* fc) noexcept override;
    nvinfer1::IPluginV2* deserializePlugin(
        char const* name, void const* serialData, size_t serialLength) noexcept override;
    void setPluginNamespace(char const* pluginNamespace) noexcept override;
    char const* getPluginNamespace() const noexcept override;

private:
    nvinfer1::PluginFieldCollection mFC;
    std::vector<nvinfer1::PluginField> mPluginAttributes;
    std::string mNamespace;
};

} // namespace plugin
} // namespace nvinfer1

#endif