clc
clear all
close all

%TESTS = ["sin_faster", "sin", "circle", "straightline", "reverse_straightline"]
TESTS = ["straightline/backandforth"]

s_ = size(TESTS);

for i = 1:s_(1)    
    clear data sim_data
    close all 
    
    sim_data = load(["tests/robot_common.mat"]);

    TEST = convertStringsToChars(TESTS(i))
    
    
    test_data = load(['tests/' TEST '/common.mat']);
    for fn = fieldnames(test_data)'
        sim_data.(fn{1}) = test_data.(fn{1});
    end

    sim_data.q0 = set_initial_conditions(sim_data.INITIAL_CONDITIONS);
    [ref dref] = set_trajectory(sim_data.TRAJECTORY, sim_data);
    sim_data.ref = ref;
    sim_data.dref = dref;

    spmd (3)
        worker_index = spmdIndex;
        data = load(['tests/' num2str(worker_index) '.mat']);
    
        for fn = fieldnames(data)'
            sim_data.(fn{1}) = data.(fn{1});
        end
        
        sim_data.U_corr_history = zeros(2,1,sim_data.PREDICTION_HORIZON);
        sim_data

        [t, q, ref_t, U, U_track, U_corr, U_corr_pred_history, Q_pred] = simulate_discr(sim_data);
    
        disp('Done')
    end
    
    h = [];
    s1_ = size(worker_index);
    for n = 1:s1_(2)
        h = [h, figure('Name', [TEST ' ' num2str(n)] )];
        plot_results(t{n}, q{n}, ref_t{n}, U{n}, U_track{n}, U_corr{n});
    end

    f1 = [ TEST '/'  datestr(datetime)];
    f = ['results/' f1];
    mkdir(f)
    savefig(h, [f '/figure.fig']);

    clear h
    dsave([f '/workspace_composite.mat']);

    copyfile(['tests/' TEST], f);

    %video(q{1}', ref_t{1}', 0.1, t{1}, 2, sim_data{1}.tc*0.05, "aa");
    %video(q{2}', ref_t{2}', 0.1, t{2}, 2, sim_data{1}.tc*0.05, "aa");
    %video(q{3}', ref_t{3}', 0.1, t{3}, 2, sim_data{1}.tc*0.05, "aa");
end


%% FUNCTION DECLARATIONS

% Discrete-time simulation
function [t, q, ref_t, U, U_track, U_corr, U_corr_pred_history, Q_pred] = simulate_discr(sim_data)
    tc = sim_data.tc;
    steps = sim_data.tfin/tc
    
    q = sim_data.q0';
    t = 0;
    Q_pred = zeros(sim_data.PREDICTION_HORIZON,3,sim_data.tfin/sim_data.tc + 1);
    U_corr_pred_history=zeros(sim_data.PREDICTION_HORIZON,2,steps);

    [u_discr, u_track, u_corr, U_corr_history, q_pred] = control_act(t, q, sim_data);
    sim_data.U_corr_history = U_corr_history;
    U = u_discr';
    U_corr = u_corr';
    U_track = u_track';
    Q_pred(:, :, 1) = q_pred;
    
    for n = 1:steps
        sim_data.old_u_corr = u_corr;
        sim_data.old_u_track = u_track;
        sim_data.old_u = u_discr;

        tspan = [(n-1)*tc n*tc];
        z0 = q(end, :);
        
        %[v, z] = ode45(@sistema_discr, tspan, z0, u_discr);
        [v, z] = ode45(@(v, z) sistema_discr(v, z, u_discr, sim_data), tspan, z0);

        q = [q; z];
        t = [t; v];
        
        [u_discr, u_track, u_corr, U_corr_history, q_pred] = control_act(t(end), q(end, :), sim_data);
        sim_data.U_corr_history = U_corr_history;
        U = [U; ones(length(v), 1)*u_discr'];
        U_corr = [U_corr; ones(length(v), 1)*u_corr'];
        U_track = [U_track; ones(length(v), 1)*u_track'];
        Q_pred(:, :, 1+n) = q_pred;
	
	U_corr_pred_history(:,:,n) = permute(U_corr_history, [3, 1, 2]);
    end

    ref_t = double(subs(sim_data.ref, t'))';
end

%% 

% Plots
function plot_results(t, x, ref, U, U_track, U_corr)
    subplot(4,2,1)
    hold on
    title("trajectory / state")
    plot(ref(:, 1), ref(:, 2), "DisplayName", "Ref")
    plot(x(:, 1), x(:, 2), "DisplayName", "state")
    rectangle('Position', [x(1,1)-0.075, x(1,2)-0.075, 0.15, 0.15], 'Curvature', [1,1])
    xlabel('x')
    ylabel('y')
    legend()
    subplot(4,2,3)
    plot(t, U(:, 1))
    xlabel('t')
    ylabel('input w_r')
    subplot(4,2,4)
    plot(t, U(:, 2))
    xlabel('t')
    ylabel('input w_l')
    hold off

    subplot(4,2,5)
    plot(t, U_corr(:, 1))
    xlabel('t')
    ylabel('correction input w_r')
    subplot(4,2,6)
    plot(t, U_corr(:, 2))
    xlabel('t')
    ylabel('correction input w_l')
    
    
    subplot(4,2,7)
    plot(t, U_track(:, 1))
    xlabel('t')
    ylabel('tracking input w_r')
    subplot(4,2,8)
    plot(t, U_track(:, 2))
    xlabel('t')

    ylabel('tracking input w_l')
    
    ex = ref(:, 1) - x(:, 1);
    ey = ref(:, 2) - x(:, 2);
    
    subplot(8,8,5)
    hold on
    xlabel('t')
    ylabel('x')
    plot(t, ref(:, 1), "DisplayName", "X_{ref}");
    plot(t, x(:, 1), "DisplayName", "X");
    legend()
    hold off
    
    subplot(8,8,6)
    plot(t, ex);
    xlabel('t')
    ylabel('x error')
    
    subplot(8,8,13)
    hold on
    xlabel('t')
    ylabel('y')
    plot(t, ref(:, 2), "DisplayName", "Y_{ref}");
    plot(t, x(:, 2), "DisplayName", "Y");
    legend()
    hold off
    
    subplot(8,8,14)
    plot(t, ey);
    xlabel('t')
    ylabel('y error')

    subplot(4, 4, 4);
    error_norm = sqrt(ex.*ex + ey.*ey);
    plot(t, error_norm );
    xlabel("t")
    ylabel("error norm")
   
end