__kernel void collate(
	__global uchar* assembly,
	__global float* collation,
	uint slotStride,
	uint firstSlotOffset,
	uint nPointsPerSlot,
	uint nDgramsPerFrame)
{
	// Get work item index (slot index)
	uint slotIndex = get_global_id(0);

	// Bounds check
	if (slotIndex >= nDgramsPerFrame)
	{
		return;
	}

	// Calculate slot address
	__global uchar* slotStart = assembly + firstSlotOffset
		+ (slotIndex * slotStride);

	// Read data_type from offset 9 (1 byte)
	uchar dataType = slotStart[9];

	// Get points array pointer (after 18-byte header)
	__global uchar* pointsArray = slotStart + 18;

	// Base offset in collation buffer for this slot (in floats, 4 per PointXYZI)
	uint collationBaseOffset = slotIndex * nPointsPerSlot * 4;

	// Process based on data type using nested ifs (outer) with loops (inner)
	if (dataType == 0)
	{
		// Type 0: LivoxRawPoint - 13 bytes per point
		// Structure: int32_t x, y, z (mm), uint8_t reflectivity
		for (uint i = 0; i < nPointsPerSlot; ++i)
		{
			__global uchar* pointPtr = pointsArray + (i * 13);

			// Read int coordinates (little-endian)
			int x_mm = *((__global int*)(pointPtr + 0));
			int y_mm = *((__global int*)(pointPtr + 4));
			int z_mm = *((__global int*)(pointPtr + 8));
			uchar reflectivity = pointPtr[12];

			// Convert to PointXYZI (meters, float)
			float x = (float)x_mm / 1000.0f;
			float y = (float)y_mm / 1000.0f;
			float z = (float)z_mm / 1000.0f;
			float intensity = (float)reflectivity;

			// Write to collation buffer
			uint offset = collationBaseOffset + (i * 4);
			collation[offset + 0] = x;
			collation[offset + 1] = y;
			collation[offset + 2] = z;
			collation[offset + 3] = intensity;
		}
	}
	else if (dataType == 2)
	{
		// Type 2: LivoxExtendRawPoint - 14 bytes per point
		// Structure: int32_t x, y, z (mm), uint8_t reflectivity, uint8_t tag (ignored)
		for (uint i = 0; i < nPointsPerSlot; ++i)
		{
			__global uchar* pointPtr = pointsArray + (i * 14);

			// Read int coordinates (little-endian)
			int x_mm = *((__global int*)(pointPtr + 0));
			int y_mm = *((__global int*)(pointPtr + 4));
			int z_mm = *((__global int*)(pointPtr + 8));
			uchar reflectivity = pointPtr[12];
			// tag at offset 13 is ignored

			// Convert to PointXYZI (meters, float)
			float x = (float)x_mm / 1000.0f;
			float y = (float)y_mm / 1000.0f;
			float z = (float)z_mm / 1000.0f;
			float intensity = (float)reflectivity;

			// Write to collation buffer
			uint offset = collationBaseOffset + (i * 4);
			collation[offset + 0] = x;
			collation[offset + 1] = y;
			collation[offset + 2] = z;
			collation[offset + 3] = intensity;
		}
	}
	else if (dataType == 4)
	{
		// Type 4: LivoxDualExtendRawPoint - 28 bytes per sample (2 points)
		// Structure: point1 (x1,y1,z1,reflectivity1,tag1), point2 (x2,y2,z2,reflectivity2,tag2)
		// nPointsPerSlot should be 96, but we have 48 samples * 2 points = 96 points
		uint nSamples = nPointsPerSlot / 2;
		uint pointIndex = 0;

		for (uint i = 0; i < nSamples; ++i)
		{
			__global uchar* samplePtr = pointsArray + (i * 28);

			// Process first point
			int x1_mm = *((__global int*)(samplePtr + 0));
			int y1_mm = *((__global int*)(samplePtr + 4));
			int z1_mm = *((__global int*)(samplePtr + 8));
			uchar reflectivity1 = samplePtr[12];
			// tag1 at offset 13 is ignored

			float x1 = (float)x1_mm / 1000.0f;
			float y1 = (float)y1_mm / 1000.0f;
			float z1 = (float)z1_mm / 1000.0f;
			float intensity1 = (float)reflectivity1;

			uint offset1 = collationBaseOffset + (pointIndex * 4);
			collation[offset1 + 0] = x1;
			collation[offset1 + 1] = y1;
			collation[offset1 + 2] = z1;
			collation[offset1 + 3] = intensity1;
			++pointIndex;

			// Process second point
			int x2_mm = *((__global int*)(samplePtr + 14));
			int y2_mm = *((__global int*)(samplePtr + 18));
			int z2_mm = *((__global int*)(samplePtr + 22));
			uchar reflectivity2 = samplePtr[26];
			// tag2 at offset 27 is ignored

			float x2 = (float)x2_mm / 1000.0f;
			float y2 = (float)y2_mm / 1000.0f;
			float z2 = (float)z2_mm / 1000.0f;
			float intensity2 = (float)reflectivity2;

			uint offset2 = collationBaseOffset + (pointIndex * 4);
			collation[offset2 + 0] = x2;
			collation[offset2 + 1] = y2;
			collation[offset2 + 2] = z2;
			collation[offset2 + 3] = intensity2;
			++pointIndex;
		}
	}
	else if (dataType == 7)
	{
		// Type 7: LivoxTripleExtendRawPoint - 42 bytes per sample (3 points)
		// Structure: point1, point2, point3 (each: x,y,z,reflectivity,tag)
		// nPointsPerSlot should be 90, but we have 30 samples * 3 points = 90 points
		uint nSamples = nPointsPerSlot / 3;
		uint pointIndex = 0;

		for (uint i = 0; i < nSamples; ++i)
		{
			__global uchar* samplePtr = pointsArray + (i * 42);

			// Process first point
			int x1_mm = *((__global int*)(samplePtr + 0));
			int y1_mm = *((__global int*)(samplePtr + 4));
			int z1_mm = *((__global int*)(samplePtr + 8));
			uchar reflectivity1 = samplePtr[12];
			// tag1 at offset 13 is ignored

			float x1 = (float)x1_mm / 1000.0f;
			float y1 = (float)y1_mm / 1000.0f;
			float z1 = (float)z1_mm / 1000.0f;
			float intensity1 = (float)reflectivity1;

			uint offset1 = collationBaseOffset + (pointIndex * 4);
			collation[offset1 + 0] = x1;
			collation[offset1 + 1] = y1;
			collation[offset1 + 2] = z1;
			collation[offset1 + 3] = intensity1;
			++pointIndex;

			// Process second point
			int x2_mm = *((__global int*)(samplePtr + 14));
			int y2_mm = *((__global int*)(samplePtr + 18));
			int z2_mm = *((__global int*)(samplePtr + 22));
			uchar reflectivity2 = samplePtr[26];
			// tag2 at offset 27 is ignored

			float x2 = (float)x2_mm / 1000.0f;
			float y2 = (float)y2_mm / 1000.0f;
			float z2 = (float)z2_mm / 1000.0f;
			float intensity2 = (float)reflectivity2;

			uint offset2 = collationBaseOffset + (pointIndex * 4);
			collation[offset2 + 0] = x2;
			collation[offset2 + 1] = y2;
			collation[offset2 + 2] = z2;
			collation[offset2 + 3] = intensity2;
			++pointIndex;

			// Process third point
			int x3_mm = *((__global int*)(samplePtr + 28));
			int y3_mm = *((__global int*)(samplePtr + 32));
			int z3_mm = *((__global int*)(samplePtr + 36));
			uchar reflectivity3 = samplePtr[40];
			// tag3 at offset 41 is ignored

			float x3 = (float)x3_mm / 1000.0f;
			float y3 = (float)y3_mm / 1000.0f;
			float z3 = (float)z3_mm / 1000.0f;
			float intensity3 = (float)reflectivity3;

			uint offset3 = collationBaseOffset + (pointIndex * 4);
			collation[offset3 + 0] = x3;
			collation[offset3 + 1] = y3;
			collation[offset3 + 2] = z3;
			collation[offset3 + 3] = intensity3;
			++pointIndex;
		}
	}
	// Unsupported data types are silently ignored
}