/*
 * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
 * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
 * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
 * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
 *
 * This file is part of acados.
 *
 * The 2-Clause BSD License
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.;
 */


#ifndef ACADOS_OCP_QP_OCP_QP_OOQP_H_
#define ACADOS_OCP_QP_OCP_QP_OOQP_H_

#ifdef __cplusplus
extern "C" {
#endif

#include "acados/ocp_qp/ocp_qp_common.h"
#include "acados/utils/types.h"

enum ocp_qp_ooqp_termination_code
{
  SPARSE_SUCCESSFUL_TERMINATION = 0,
  SPARSE_NOT_FINISHED,
  SPARSE_MAX_ITS_EXCEEDED,
  SPARSE_INFEASIBLE,
  SPARSE_UNKNOWN
};

typedef struct ocp_qp_ooqp_opts_
{
    int printLevel;
    int useDiagonalWeights;  // TODO(dimitris): implement option
    int fixHessian;
    int fixHessianSparsity;
    int fixDynamics;
    int fixDynamicsSparsity;
    int fixInequalities;
    int fixInequalitiesSparsity;
} ocp_qp_ooqp_opts;

typedef struct ocp_qp_ooqp_workspace_
{
    double *x;
    double *gamma;
    double *phi;
    double *y;
    double *z;
    double *lambda;
    double *pi;
    double objectiveValue;
    int *tmpInt;    // temporary vector to sort indicies sparse matrices
    double *tmpReal;  // temporary vector to sort data of sparse matrices
    // int ierr;
} ocp_qp_ooqp_workspace;

typedef struct ocp_qp_ooqp_memory_
{
    int firstRun;
    double *c;
    int nx;
    int *irowQ;
    int nnzQ;
    int *jcolQ;
    int *orderQ;
    double *dQ;
    double *xlow;
    char *ixlow;
    double *xupp;
    char *ixupp;
    int *irowA;
    int nnzA;
    int *jcolA;
    int *orderA;
    double *dA;
    double *bA;
    int my;
    int *irowC;
    int nnzC;
    int *jcolC;
    int *orderC;
    double *dC;
    double *clow;
    int mz;
    char *iclow;
    double *cupp;
    char *icupp;
    int nnz;  // max(nnzQ, nnzA, nnzC)
    double time_qp_solver_call;
    int iter;

} ocp_qp_ooqp_memory;

//
acados_size_t ocp_qp_ooqp_opts_calculate_size(void *config_, ocp_qp_dims *dims);
//
void *ocp_qp_ooqp_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory);
//
void ocp_qp_ooqp_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_);
//
void ocp_qp_ooqp_opts_update(void *config_, ocp_qp_dims *dims, void *opts_);
//
acados_size_t ocp_qp_ooqp_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
//
void *ocp_qp_ooqp_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory);
//
acados_size_t ocp_qp_ooqp_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_);
//
int ocp_qp_ooqp(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_,
                void *work_);
//
void ocp_qp_ooqp_destroy(void *mem_, void *work);
//
void ocp_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
//
void ocp_qp_ooqp_config_initialize_default(void *config_);

#ifdef __cplusplus
} /* extern "C" */
#endif

#endif  // ACADOS_OCP_QP_OCP_QP_OOQP_H_