LinalgUtils.h

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// -                        Open3D: www.open3d.org                            -
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// The MIT License (MIT)
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// Copyright (c) 2018 www.open3d.org
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#pragma once

#include <memory>
#include <string>

#include "open3d/core/Dtype.h"
#include "open3d/core/MemoryManager.h"
#include "open3d/core/linalg/LinalgHeadersCPU.h"
#include "open3d/core/linalg/LinalgHeadersCUDA.h"
#include "open3d/utility/Console.h"

namespace open3d {
namespace core {

#define DISPATCH_LINALG_DTYPE_TO_TEMPLATE(DTYPE, ...)       \
    [&] {                                                   \
        if (DTYPE == open3d::core::Dtype::Float32) {        \
            using scalar_t = float;                         \
            return __VA_ARGS__();                           \
        } else if (DTYPE == open3d::core::Dtype::Float64) { \
            using scalar_t = double;                        \
            return __VA_ARGS__();                           \
        } else {                                            \
            utility::LogError("Unsupported data type.");    \
        }                                                   \
    }()

inline void OPEN3D_LAPACK_CHECK(OPEN3D_CPU_LINALG_INT info,
                                const std::string& msg) {
    if (info < 0) {
        utility::LogError("{}: {}-th parameter is invalid.", msg, -info);
    } else if (info > 0) {
        utility::LogError("{}: singular condition detected.", msg);
    }
}

#ifdef BUILD_CUDA_MODULE
inline void OPEN3D_CUBLAS_CHECK(cublasStatus_t status, const std::string& msg) {
    if (CUBLAS_STATUS_SUCCESS != status) {
        utility::LogError("{}", msg);
    }
}

inline void OPEN3D_CUSOLVER_CHECK(cusolverStatus_t status,
                                  const std::string& msg) {
    if (CUSOLVER_STATUS_SUCCESS != status) {
        utility::LogError("{}", msg);
    }
}

inline void OPEN3D_CUSOLVER_CHECK_WITH_DINFO(cusolverStatus_t status,
                                             const std::string& msg,
                                             int* dinfo,
                                             const Device& device) {
    int hinfo;
    MemoryManager::MemcpyToHost(&hinfo, dinfo, device, sizeof(int));
    if (status != CUSOLVER_STATUS_SUCCESS || hinfo != 0) {
        if (hinfo < 0) {
            utility::LogError("{}: {}-th parameter is invalid.", msg, -hinfo);
        } else if (hinfo > 0) {
            utility::LogError("{}: singular condition detected.", msg);
        } else {
            utility::LogError("{}: status error code = {}.", msg, status);
        }
    }
}

class CuSolverContext {
public:
    static std::shared_ptr<CuSolverContext> GetInstance();
    CuSolverContext();
    ~CuSolverContext();

    cusolverDnHandle_t& GetHandle() { return handle_; }

private:
    cusolverDnHandle_t handle_;

    static std::shared_ptr<CuSolverContext> instance_;
};

class CuBLASContext {
public:
    static std::shared_ptr<CuBLASContext> GetInstance();

    CuBLASContext();
    ~CuBLASContext();

    cublasHandle_t& GetHandle() { return handle_; }

private:
    cublasHandle_t handle_;

    static std::shared_ptr<CuBLASContext> instance_;
};
#endif
}  // namespace core
}  // namespace open3d