/*!
  \file
  \brief Simulation of disturbances in PMSM model, EKF runs with simulated covariances
  \author Vaclav Smidl.

  \ingroup PMSM
  -----------------------------------
  BDM++ - C++ library for Bayesian Decision Making under Uncertainty

  Using IT++ for numerical operations
  -----------------------------------
*/


#include <stat/functions.h>
#include <estim/kalman.h>
#include <estim/particles.h>
#include <estim/ekf_template.h>
#include <math/chmat.h>

#include "pmsm.h"
#include "simulator.h"
#include "sim_profiles.h"

#include <stat/loggers.h>

using namespace bdm;

class IMpmsm_load :  public IMpmsm {
	public:
		IMpmsm_load() :IMpmsm() {};
		void condition ( const vec &val ) {Mz = val(0);}
};

int main() {
	// Kalman filter
	int Ndat = 90000;
	double h = 1e-6;
	int Nsimstep = 125;
	int Npart = 200;

	dirfilelog L("exp/mpf_load",1000);
	
	// SET SIMULATOR
	pmsmsim_set_parameters ( 0.28,0.003465,0.1989,0.0,4,1.5,0.04, 200., 3e-6, h );
	double Ww = 0.0;
	vec dt ( 2 );
	vec ut ( 2 );
	
	IMpmsm_load fxu;
	IMpmsm fxu0;
	//                  Rs    Ls        dt           Fmag(Ypm) kp   p    J     Bf(Mz)
	fxu.set_parameters ( 0.28, 0.003465, Nsimstep*h, 0.1989,   1.5 ,4.0, 0.04, 0.0 );
	fxu0.set_parameters ( 0.28, 0.003465, Nsimstep*h, 0.1989,   1.5 ,4.0, 0.04, 0.0 );
	OMpmsm hxu;

	// ESTIMATORS
	vec mu0= "0.0 0.0 0.0 0.0";
	vec Qdiag0 ( "62 66 454 0.03" ); //zdenek: 0.01 0.01 0.0001 0.0001
	vec Qdiag ( "6 6 1 0.003" ); //zdenek: 0.01 0.01 0.0001 0.0001
	vec Rdiag ( "100 100" ); //var(diff(xth)) = "0.034 0.034"
	mat Q =diag( Qdiag );
	mat R =diag ( Rdiag );
	EKFfull Efix;
	Efix.set_est ( mu0, 1*eye ( 4 )  );
	Efix.set_parameters ( &fxu0,&hxu,diag(Qdiag0),R);

	mlnorm<ldmat> evolMz;
	evolMz.set_parameters(mat("1"),vec("0"),ldmat(1.0*vec("1")));
	evolMz.condition(" 0.0");
	
	EKFCh_cond Ep;
	Ep.set_est ( mu0, 1*eye ( 4 ) );
	Ep.set_parameters ( &fxu,&hxu,Q,R);
	
	MPF<EKFCh_cond> M ( &evolMz, &evolMz, Npart, Ep  );
	M.set_est(evolMz._epdf());

	//LOG
	int X_log = L.add(rx,"X");
	int E_log = L.add(rx,"EX");
	int M_log = L.add(concat(RV("Mz",1),rx),"MX");
	L.init();

	for ( int tK=1;tK<Ndat;tK++ ) {
		//Number of steps of a simulator for one step of Kalman
		for ( int ii=0; ii<Nsimstep;ii++ ) {
			sim_profile_steps1 ( Ww , true);
			pmsmsim_step ( Ww );
		};
		// simulation via deterministic model
		ut ( 0 ) = KalmanObs[4];
		ut ( 1 ) = KalmanObs[5];
		
		dt ( 0 ) = KalmanObs[2];
		dt ( 1 ) = KalmanObs[3];
	
		//ESTIMATE
		Efix.bayes(concat(dt,ut));
		//
		M.bayes(concat(dt,ut));
		
		//LOG
		L.logit(X_log, 	vec(x,4)); //vec from C-array
		L.logit(E_log, Efix.posterior().mean()); 
		L.logit(M_log, M.posterior().mean()); 
		
		L.step();
	}

	L.finalize();
	//L.itsave("sim_var.it");	
	

	return 0;
}