#include "stdio.h"
#include "osqp.h"


int main(int argc, char **argv) {
  // Load problem data
  c_float P_x[4] =
  { 4.00000000000000000000, 1.00000000000000000000, 1.00000000000000000000,
    2.00000000000000000000, };
  c_int   P_nnz  = 4;
  c_int   P_i[4] = { 0, 1, 0, 1, };
  c_int   P_p[3] = { 0, 2, 4, };
  c_float q[2]   = { 1.00000000000000000000, 1.00000000000000000000, };
  c_float A_x[4] =
  { 1.00000000000000000000, 1.00000000000000000000, 1.00000000000000000000,
    1.00000000000000000000, };
  c_int   A_nnz  = 4;
  c_int   A_i[4] = { 0, 1, 0, 2, };
  c_int   A_p[3] = { 0, 2, 4, };
  c_float l[3]   =
  { 1.00000000000000000000, 0.00000000000000000000, 0.00000000000000000000, };
  c_float u[3] =
  { 1.00000000000000000000, 0.69999999999999995559, 0.69999999999999995559, };
  c_int n = 2;
  c_int m = 3;


  // Problem settings
  OSQPSettings *settings = (OSQPSettings *)c_malloc(sizeof(OSQPSettings));

  // Structures
  OSQPWorkspace *work; // Workspace
  OSQPData *data;      // OSQPData

  // Populate data
  data    = (OSQPData *)c_malloc(sizeof(OSQPData));
  data->n = n;
  data->m = m;
  data->P = csc_matrix(data->n, data->n, P_nnz, P_x, P_i, P_p);
  data->q = q;
  data->A = csc_matrix(data->m, data->n, A_nnz, A_x, A_i, A_p);
  data->l = l;
  data->u = u;


  // Define Solver settings as default
  osqp_set_default_settings(settings);

  // Setup workspace
  work = osqp_setup(data, settings);

  // Solve Problem
  osqp_solve(work);

  // Clean workspace
  osqp_cleanup(work);
  c_free(data->A);
  c_free(data->P);
  c_free(data);
  c_free(settings);


  return 0;
}