clc
clear all
close all

%% global variables
global K SATURATION PREDICTION_HORIZON PREDICTION_SATURATION_TOLERANCE;

sim_data = load(['tests/sin/common.mat']);

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

spmd (3)
    worker_index = spmdIndex;
    data = load(['tests/sin/sin' num2str(spmdIndex) '.mat']);
    
    sim_data.PREDICTION_HORIZON = data.PREDICTION_HORIZON;
    sim_data

    [t, q, ref_t, U] = simulate_discr(sim_data);
end

s_ = size(worker_index);
for n = 1:s_(2)
    figure(n)
    plot_results(t{n}, q{n}, ref_t{n}, U{n});
end

%% FUNCTION DECLARATIONS

% Discrete-time simulation
function [t, q, ref_t, U] = simulate_discr(sim_data)
    tc = sim_data.tc;
    steps = sim_data.tfin/tc
    
    q = sim_data.q0';
    t = 0;
    u_discr = control_act(t, q, sim_data);
    U = u_discr';
    
    for n = 1:steps
        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), tspan, z0);

        q = [q; z];
        t = [t; v];
        
        u_discr = control_act(t(end), q(end, :), sim_data);
        U = [U; ones(length(v), 1)*u_discr'];
    end

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


% Continuos-time simulation
function [t, q, ref, U] = simulate_cont(tfin)
    global ref q0

    % simulation time
    tspan = linspace(0, tfin);
    % execute simulation
    [t, q] = ode45(@sistema, tspan, q0);
    
    % recalc and save input at each timestep
    ts = size(t);
    rows = ts(1);
    U = zeros(rows, 2);
    for row = 1:rows
        U(row, :) = control_act(t(row), q(row, :));
    end
    
    % plot results
    ref = double(subs(ref, t'))';
end

% Plots
function plot_results(t, x, ref, U)
    subplot(2,2,1)
    hold on
    plot(ref(:, 1), ref(:, 2), "DisplayName", "Ref")
    plot(x(:, 1), x(:, 2), "DisplayName", "state")
    xlabel('x')
    ylabel('y')
    legend()
    subplot(2,2,3)
    plot(t, U(:, 1))
    xlabel('t')
    ylabel('input v')
    subplot(2,2,4)
    plot(t, U(:, 2))
    xlabel('t')
    ylabel('input w')
    
    
    subplot(4,4,3)
    hold on
    xlabel('t')
    ylabel('x')
    plot(t, ref(:, 1), "DisplayName", "X_{ref}");
    plot(t, x(:, 1), "DisplayName", "X");
    legend()
    hold off
    
    subplot(4,4,4)
    plot(t, ref(:, 1) - x(:, 1));
    xlabel('t')
    ylabel('x error')
    
    subplot(4,4,7)
    hold on
    xlabel('t')
    ylabel('y')
    plot(t, ref(:, 2), "DisplayName", "Y_{ref}");
    plot(t, x(:, 2), "DisplayName", "Y");
    legend()
    hold off
    
    subplot(4,4,8)
    plot(t, ref(:, 2) - x(:, 2));
    xlabel('t')
    ylabel('y error')
end