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using ProximalOperators, Random
# Number of variables
n = 1000
# Number of halfspaces
mi = 50 # Inequalities with C
me = 50 # Equalities with A

Random.seed!(1)
# One point in polytope
x0 = randn(n)

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#### Test Plots
using ControlExamplePlots
using Plots
gr()
default(show=false)

funcs, refs, eps = getexamples()
# Make it easier to pass tests on different systems
# Set to a factor 2 of common errors
eps = [0.15, 0.015, 0.1, 0.01, 0.01, 0.02, 0.01, 0.15, 0.15, 0.01, 0.01]

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using Ipopt         # Solver
using NLOptControl  # Problem definition and discretization
using Plots         # Custom plots


# =========== PROBLEM DEFINITION ==============================
# Constraints on states
XL   = [-Inf,-Inf,-Inf,-Inf]
XU   = [Inf,Inf,Inf,Inf]
# Constraints on control, we will add ux^2+uy^2 <= 1, so these won't be active

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# To add packages in the REPL: "]add BenchmarkTools"
using LinearAlgebra, BenchmarkTools
# Simple method and syntax, no types!
function quadratic(x,Q,y)
    dot(x,Q*y)
end

Q = randn(5,5)
x = randn(5)
y = randn(5)

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module SimpleTreeInterface

export ChildrenFirst, ParentsFirst
export NodeOnly, NodeDepth, NodeIndex

abstract type AbstractReturnMode end
abstract type AbstractTreeIterator{T,RetMode<:AbstractReturnMode} end

struct NodeOnly <: AbstractReturnMode end
struct NodeDepth <: AbstractReturnMode end

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hello

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using Flux

const nn =  gpu(Chain(
            Conv((5, 5), 3=>6, relu),
            MaxPool((2, 2)),
            Conv((5, 5), 6=>16, relu),
            MaxPool((2, 2)),
            flatten,
            Dense(256, 120, relu), 
            Dense(120, 84, relu), 

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ERROR: LoadError: TaskFailedException

    nested task error: Out of GPU memory trying to allocate 897.217 MiB
    Effective GPU memory usage: 52.47% (5.726 GiB/10.913 GiB)
    Memory pool usage: 3.117 GiB (3.656 GiB reserved)
    Stacktrace:
      [1] macro expansion
        @ ~/.julia/packages/CUDA/0IDh2/src/pool.jl:219 [inlined]
      [2] macro expansion
        @ ./timing.jl:299 [inlined]

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ERROR: LoadError: TaskFailedException
Stacktrace:
 [1] wait
   @ ./task.jl:334 [inlined]
 [2] fetch(t::Task)
   @ Base ./task.jl:349
 [3] top-level scope
   @ ~/knightvision/piece_recognition/KnightVisionServer/test/test_cuda.jl:39

    nested task error: CUDNNError: CUDNN_STATUS_INTERNAL_ERROR (code 4)

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# After execution gets stuck, sending `schedule(t, nothing, error=true)` to the task: 
Stacktrace:
  [1] try_yieldto(undo::typeof(Base.ensure_rescheduled))
    @ Base ./task.jl:777
  [2] wait()
    @ Base ./task.jl:837
  [3] wait(c::Base.GenericCondition{ReentrantLock})
    @ Base ./condition.jl:123
  [4] wait(e::Base.Event)
    @ Base ./lock.jl:366