/*
 * Copyright (c) The acados authors.
 *
 * 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.;
 */

// system
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
// acados
#include "acados_solver_{{ name }}.h"

// mex
#include "mex.h"



void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
{
    // C_ocp
    long long *ptr;
    const mxArray *C_ocp = prhs[0];

    // capsule
    ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) );
    {{ name }}_solver_capsule *capsule = ({{ name }}_solver_capsule *) ptr[0];

    // data
    double *data = mxGetPr(prhs[1]);
    int data_len = (int) mxGetNumberOfElements( prhs[1] );

    // solve
    int status = {{ name }}_acados_custom_update(capsule, data, data_len);

    plhs[0] = mxCreateNumericMatrix(1, 11, mxDOUBLE_CLASS, mxREAL);
    double *x = mxGetPr( plhs[0] );
    x[0] = (double) status;

    return;
}
