#pragma once
#include <string.h>
#include <stdlib.h>

/* 宏定义 */
#define INF 1.0E30
#define malloc malloc
#define FREE free

/* 变量类型定义 */
typedef struct cmscp_floatDemat { // 浮点型稠密矩阵
	int m; // 行
	int n; // 列
	double* v; // 逐列存储矩阵的每一个元素
}cmscp_floatDemat;

typedef struct intDemat { // 整数型稠密矩阵
	int m; // 行
	int n; // 列
	int* v; // 逐列存储矩阵的每一个元素
}intDemat;

typedef struct cmscp_crsSpmat { // 行压缩存储格式
	int m;// 行
	int n;// 列
	int* ptrRow;// 每行首个非零元素位置
	int* idxCol;// 非零元素列坐标
	double* v;// 逐行存储矩阵的每一个非零元素
}cmscp_crsSpmat;

typedef struct cmscp_ccsSpmat {// 列压缩存储格式
	int m;// 行
	int n;// 列
	int* ptrCol;// 每列首个非零元素位置
	int* idxRow;// 非零元素行坐标
	double* v;// 逐列存储矩阵的每一个非零元素
}cmscp_ccsSpmat;

typedef struct cmscp_trajInfo { // 轨迹信息变量结构体
	double initialtime;
	double finaltime;
	cmscp_floatDemat* state;
	cmscp_floatDemat* control;
	double* parameter;
}cmscp_trajInfo;

typedef struct cmscp_stopInfo {
	int isStop;
	double absTol;
}cmscp_stopInfo;

typedef struct cmscp_trustInfo {
	int numState;
}cmscp_trustInfo;

/* 序列凸优化算法 */
typedef struct cmscp_solverInfo {
	char* name;
	int maxit;
	double abstol;
	double reltol;
	double feastol;
	int verbose;
}cmscp_solverInfo;

typedef struct cmscp_scp {
	int maxIter;
	int cntIter;
	double* obj;
	cmscp_solverInfo* solver;
}cmscp_scp;


/* 问题约束边界结构体 */
typedef struct cmscp_boundscale {
	double lower;
	double upper;
}cmscp_boundscale;
typedef struct cmscp_boundvec {
	double* lower;
	double* upper;
}cmscp_boundvec;

typedef struct cmscp_boundcone {
	cmscp_boundvec* nl;
	double* soc;
}cmscp_boundcone;

typedef struct cmscp_boundPhase {
	cmscp_boundscale* initialtime;
	cmscp_boundscale* finaltime;
	cmscp_boundvec* initialstate;
	cmscp_boundvec* state;
	cmscp_boundvec* finalstate;
	cmscp_boundvec* control;
	cmscp_boundvec* parameter;
	cmscp_boundcone* path;
	cmscp_boundcone* endpoint;
	cmscp_boundcone* linkage;
}cmscp_boundPhase;

typedef struct cmscp_bound {
	cmscp_boundPhase** phase;
	cmscp_boundcone* event;
}cmscp_bound;


/* 问题维数结构体 */
typedef struct cmscp_dimension1 {
	int n;
	int* q;
}cmscp_dimension1;
typedef struct cmscp_dimension2 {
	int nl;
	cmscp_dimension1* soc;
}cmscp_dimension2;

typedef struct cmscp_dimensionPhase {
	int state;
	int control;
	int parameter;
	cmscp_dimension2* path;
	cmscp_dimension2* endpoint;
	cmscp_dimension2* linkage;
}cmscp_dimensionPhase;

typedef struct cmscp_dimension {
	cmscp_dimensionPhase** phase;
	cmscp_dimension2* event;
}cmscp_dimension;

/* 问题信赖域结构体 */
typedef struct cmscp_trustWeihgt {
	double initialtime;
	double finaltime;
	double* state;
	double* control;
	double* parameter;
}cmscp_trustWeihgt;

typedef struct cmscp_trustPhase {
	cmscp_trustWeihgt* weight;
	double hardRadius;
	double softPenaWeight;
}cmscp_trustPhase;

typedef struct cmscp_trust {
	char* model;
	double merit;
	cmscp_trustPhase** phase;
}cmscp_trust;

/* 问题函数名称结构体 */
typedef struct cmscp_contInput {
	void* auxdata;
	double* state;
	double* control;
	double* parameter;
}cmscp_contInput;

typedef struct cmscp_endpInput {
	void* auxdata;
	double initialtime;
	double* initialstate;
	double finaltime;
	double* finalstate;
	double* parameter;
}cmscp_endpInput;

typedef struct cmscp_linkInput {
	void* auxdata;  // auxdata是辅助参数，与问题相关，事先不确定其类型
	double leftFinTime;
	double* leftFinState;
	double* leftParameter;
	double rightIniTime;
	double* rightIniState;
	double* rightParameter;
}cmscp_linkInput;

typedef struct cmscp_objEventInputPhase {
	double initialtime;
	double finaltime;
	double* initialstate;
	double* finalstate;
	double* parameter;
}cmscp_objEventInputPhase;

typedef struct cmscp_objEventInput {
	void* auxdata;  // auxdata是辅助参数，与问题相关，事先不确定其类型
	cmscp_objEventInputPhase** phase;
}cmscp_objEventInput;

typedef void (*cmscp_continuous)(double*, double*, cmscp_contInput*);
typedef void (*cmscp_endpoint)(double*, cmscp_endpInput*);
typedef void (*cmscp_linkage)(double*, cmscp_linkInput*);
typedef void (*cmscp_objEvent)(double*, double*, cmscp_objEventInput*);
typedef void (*cmscp_objEventDepend)(intDemat*);
typedef void (*cmscp_contDepend)(intDemat*, int, void*);
typedef void (*cmscp_endpDepend)(intDemat*, int, void*);
typedef void (*cmscp_linkDepend)(intDemat*, int, void*);
typedef void (*cmscp_getIniRefTraj)(cmscp_trajInfo**, void*);
typedef int* (*cmscp_stopCondition)(int, cmscp_trajInfo**, cmscp_trajInfo**, void*);
typedef void (*cmscp_updateMeshInfo)(int, cmscp_trajInfo**, cmscp_trajInfo**, void*);
typedef void (*cmscp_updateTrustInfo)(int, cmscp_trajInfo**, cmscp_trajInfo**, void*);
typedef void (*cmscp_updateRefTraj)(cmscp_trajInfo**, cmscp_trajInfo**, void*);


typedef struct cmscp_functionsPhase {
	cmscp_continuous continuous;
	cmscp_endpoint endpoint;
	cmscp_linkage linkage;
}cmscp_functionsPhase;

typedef struct cmscp_functions {
	/* 各段函数 */
	cmscp_functionsPhase** phase;

	/* 目标函数和事件函数 */
	cmscp_objEvent objEvent;

	/* 手动稀疏模式所需相关性函数 */
	cmscp_objEventDepend objEventDepend;
	cmscp_contDepend contDepend;
	cmscp_endpDepend endpDepend;
	cmscp_linkDepend linkDepend;

	/* 序列线性化所需函数 */
	cmscp_getIniRefTraj getIniRefTraj;
	cmscp_stopCondition stopCondition;
	cmscp_updateMeshInfo updateMeshInfo;
	cmscp_updateTrustInfo updateTrustInfo;
	cmscp_updateRefTraj updateRefTraj;
}cmscp_functions;

/* 每段的离散点 */
typedef struct cmscp_mesh {
	int num;
	double* node;
}cmscp_mesh;

/* 问题设置参数结构体 */
typedef struct cmscp_setup {
	void* auxdata; // 不确定类型，用空指针
	int numPhase; // 分段数
	char* sparseModel; // 稀疏模式
	double derStep; // 求导步长
	cmscp_scp* scpInfo; // 序列凸优化参数
	//cmscp_functions* functions;
	cmscp_mesh** oldMesh;
	cmscp_mesh** mesh;
	cmscp_trust* trust;
	cmscp_dimension* dimension;
	cmscp_functions* functions;
	cmscp_bound* bounds;
}cmscp_setup;



int cmscp(cmscp_trajInfo** optTraj, cmscp_setup* setup);