#include <../src/tao/complementarity/impls/ssls/ssls.h>

static PetscErrorCode TaoSetUp_SSILS(Tao tao)
{
  TAO_SSLS *ssls = (TAO_SSLS *)tao->data;

  PetscFunctionBegin;
  PetscCall(VecDuplicate(tao->solution, &tao->gradient));
  PetscCall(VecDuplicate(tao->solution, &tao->stepdirection));
  PetscCall(VecDuplicate(tao->solution, &ssls->ff));
  PetscCall(VecDuplicate(tao->solution, &ssls->dpsi));
  PetscCall(VecDuplicate(tao->solution, &ssls->da));
  PetscCall(VecDuplicate(tao->solution, &ssls->db));
  PetscCall(VecDuplicate(tao->solution, &ssls->t1));
  PetscCall(VecDuplicate(tao->solution, &ssls->t2));
  PetscFunctionReturn(PETSC_SUCCESS);
}

static PetscErrorCode TaoDestroy_SSILS(Tao tao)
{
  TAO_SSLS *ssls = (TAO_SSLS *)tao->data;

  PetscFunctionBegin;
  PetscCall(VecDestroy(&ssls->ff));
  PetscCall(VecDestroy(&ssls->dpsi));
  PetscCall(VecDestroy(&ssls->da));
  PetscCall(VecDestroy(&ssls->db));
  PetscCall(VecDestroy(&ssls->t1));
  PetscCall(VecDestroy(&ssls->t2));
  PetscCall(KSPDestroy(&tao->ksp));
  PetscCall(PetscFree(tao->data));
  PetscFunctionReturn(PETSC_SUCCESS);
}

static PetscErrorCode TaoSolve_SSILS(Tao tao)
{
  TAO_SSLS                    *ssls = (TAO_SSLS *)tao->data;
  PetscReal                    psi, ndpsi, normd, innerd, t = 0;
  PetscReal                    delta, rho;
  TaoLineSearchConvergedReason ls_reason;

  PetscFunctionBegin;
  /* Assume that Setup has been called!
     Set the structure for the Jacobian and create a linear solver. */
  delta = ssls->delta;
  rho   = ssls->rho;

  PetscCall(TaoComputeVariableBounds(tao));
  PetscCall(VecMedian(tao->XL, tao->solution, tao->XU, tao->solution));
  PetscCall(TaoLineSearchSetObjectiveAndGradientRoutine(tao->linesearch, Tao_SSLS_FunctionGradient, tao));
  PetscCall(TaoLineSearchSetObjectiveRoutine(tao->linesearch, Tao_SSLS_Function, tao));

  /* Calculate the function value and fischer function value at the
     current iterate */
  PetscCall(TaoLineSearchComputeObjectiveAndGradient(tao->linesearch, tao->solution, &psi, ssls->dpsi));
  PetscCall(VecNorm(ssls->dpsi, NORM_2, &ndpsi));

  tao->reason = TAO_CONTINUE_ITERATING;
  while (PETSC_TRUE) {
    PetscCall(PetscInfo(tao, "iter: %" PetscInt_FMT ", merit: %g, ndpsi: %g\n", tao->niter, (double)ssls->merit, (double)ndpsi));
    /* Check the termination criteria */
    PetscCall(TaoLogConvergenceHistory(tao, ssls->merit, ndpsi, 0.0, tao->ksp_its));
    PetscCall(TaoMonitor(tao, tao->niter, ssls->merit, ndpsi, 0.0, t));
    PetscUseTypeMethod(tao, convergencetest, tao->cnvP);
    if (tao->reason != TAO_CONTINUE_ITERATING) break;

    /* Call general purpose update function */
    PetscTryTypeMethod(tao, update, tao->niter, tao->user_update);
    tao->niter++;

    /* Calculate direction.  (Really negative of newton direction.  Therefore,
       rest of the code uses -d.) */
    PetscCall(KSPSetOperators(tao->ksp, tao->jacobian, tao->jacobian_pre));
    PetscCall(KSPSolve(tao->ksp, ssls->ff, tao->stepdirection));
    PetscCall(KSPGetIterationNumber(tao->ksp, &tao->ksp_its));
    tao->ksp_tot_its += tao->ksp_its;
    PetscCall(VecNorm(tao->stepdirection, NORM_2, &normd));
    PetscCall(VecDot(tao->stepdirection, ssls->dpsi, &innerd));

    /* Make sure that we have a descent direction */
    if (innerd <= delta * PetscPowReal(normd, rho)) {
      PetscCall(PetscInfo(tao, "newton direction not descent\n"));
      PetscCall(VecCopy(ssls->dpsi, tao->stepdirection));
      PetscCall(VecDot(tao->stepdirection, ssls->dpsi, &innerd));
    }

    PetscCall(VecScale(tao->stepdirection, -1.0));
    innerd = -innerd;

    PetscCall(TaoLineSearchSetInitialStepLength(tao->linesearch, 1.0));
    PetscCall(TaoLineSearchApply(tao->linesearch, tao->solution, &psi, ssls->dpsi, tao->stepdirection, &t, &ls_reason));
    PetscCall(VecNorm(ssls->dpsi, NORM_2, &ndpsi));
  }
  PetscFunctionReturn(PETSC_SUCCESS);
}

/*MC
   TAOSSILS - semi-smooth infeasible linesearch algorithm for solving
              complementarity constraints

   Options Database Keys:
+ -tao_ssls_delta - descent test fraction
- -tao_ssls_rho   - descent test power

   Level: beginner

.seealso: `Tao`, `TAOSSFLS`, `TAONTR`, `TAONLS`, `TAONM`, `TAOCG`, `TaoType`, `TaoCreate()`
M*/
PETSC_EXTERN PetscErrorCode TaoCreate_SSILS(Tao tao)
{
  TAO_SSLS   *ssls;
  const char *armijo_type = TAOLINESEARCHARMIJO;

  PetscFunctionBegin;
  PetscCall(PetscNew(&ssls));
  tao->data                = (void *)ssls;
  tao->ops->solve          = TaoSolve_SSILS;
  tao->ops->setup          = TaoSetUp_SSILS;
  tao->ops->view           = TaoView_SSLS;
  tao->ops->setfromoptions = TaoSetFromOptions_SSLS;
  tao->ops->destroy        = TaoDestroy_SSILS;

  ssls->delta = 1e-10;
  ssls->rho   = 2.1;

  PetscCall(TaoLineSearchCreate(((PetscObject)tao)->comm, &tao->linesearch));
  PetscCall(PetscObjectIncrementTabLevel((PetscObject)tao->linesearch, (PetscObject)tao, 1));
  PetscCall(TaoLineSearchSetType(tao->linesearch, armijo_type));
  PetscCall(TaoLineSearchSetOptionsPrefix(tao->linesearch, tao->hdr.prefix));
  PetscCall(TaoLineSearchSetFromOptions(tao->linesearch));
  /* Note: linesearch objective and objectivegradient routines are set in solve routine */
  PetscCall(KSPCreate(((PetscObject)tao)->comm, &tao->ksp));
  PetscCall(PetscObjectIncrementTabLevel((PetscObject)tao->ksp, (PetscObject)tao, 1));
  PetscCall(KSPSetOptionsPrefix(tao->ksp, tao->hdr.prefix));

  /* Override default settings (unless already changed) */
  PetscCall(TaoParametersInitialize(tao));
  PetscObjectParameterSetDefault(tao, max_it, 2000);
  PetscObjectParameterSetDefault(tao, max_funcs, 4000);
  PetscObjectParameterSetDefault(tao, gttol, 0);
  PetscObjectParameterSetDefault(tao, grtol, 0);
  PetscObjectParameterSetDefault(tao, gatol, PetscDefined(USE_REAL_SINGLE) ? 1.0e-6 : 1.0e-16);
  PetscObjectParameterSetDefault(tao, fmin, PetscDefined(USE_REAL_SINGLE) ? 1.0e-4 : 1.0e-8);
  PetscFunctionReturn(PETSC_SUCCESS);
}
