import sympy as sp

import numpy as np

import pylab as plt

from model import ArmModel

from simulation import Simulation

from projection import TaskSpace, MuscleSpace

from controller import JointSpaceController, TaskSpaceController,\

    MuscleSpaceControllerJS, PosturalMuscleSpaceController

from analysis import FeasibleMuscleSetAnalysis, StiffnessAnalysis

from util import calculate_feasible_muscle_set,\

    calculate_stiffness_properties

from sympy import init_printing

from IPython.display import display

import logging

logging.basicConfig(level=logging.DEBUG)

# basic configuration

init_printing(use_unicode=True, wrap_line=False,

              no_global=True, use_latex=True)  # 'mathjax'

# np.set_printoptions(precision=3)

plt.ioff()

# plt.ion()

plt.rcParams['font.size'] = 15

# ------------------------------------------------------------------------

# utilities

# ------------------------------------------------------------------------

def joint_space_control(model, fig_name='results/js_control', format='pdf'):

    """Make use of the joint space controller to simulate a movement.

    """

    # b = 0.05 produces smooth profiles

    t_end = 5.0

    fig, ax = plt.subplots(2, 3, figsize=(15, 10))

    # controller

    controller = JointSpaceController(model)

    # numerical integration

    simulation = Simulation(model, controller)

    simulation.integrate(t_end)

    simulation.plot_simulation(ax[0])

    controller.reporter.plot_joint_space_data(ax[1])

    fig.tight_layout()

    fig.savefig(fig_name + '.' + format, format=format, dpi=300)

    fig.savefig(fig_name + '.' + 'eps', format='eps', dpi=300)

    fig.show()

    return controller, t_end

def task_space_control(model, angle, evaluate_muscle_forces,

                       fig_name='results/ts_control', format='pdf'):

    """Make use of the task space controller to simulate a movement.

    """

    t_end = 2.0

    fig, ax = plt.subplots(2, 3, figsize=(15, 10))

    # define the end effector position in terms of q's

    end_effector = sp.Matrix(model.ee)

    display('x_t = ', end_effector)

    # task space

    task = TaskSpace(model, end_effector)

    controller = TaskSpaceController(

        model, task, angle, evaluate_muscle_forces)

    # numerical integration

    simulation = Simulation(model, controller)

    simulation.integrate(t_end)

    simulation.plot_simulation(ax[0])

    controller.reporter.plot_task_space_data(ax[1])

    fig.tight_layout()

    fig.savefig(fig_name + '.' + format, format=format, dpi=300)

    fig.savefig(fig_name + '.' + 'eps', format='eps', dpi=300)

    fig.show()

    return controller, t_end, task

def muscle_space_control(model, use_optimization,

                         fig_name='results/ms_control', format='pdf'):

    """Make use of the muscle space controller to simulate a movement.

    """

    # requires small b = 0.01 or 0

    t_end = 3.0

    fig, ax = plt.subplots(2, 3, figsize=(15, 10))

    # muscle space

    muscle_space = MuscleSpace(model, use_optimization)

    controller = MuscleSpaceControllerJS(model, muscle_space)

    # numerical integration

    simulation = Simulation(model, controller)

    simulation.integrate(t_end)

    simulation.plot_simulation(ax[0])

    controller.reporter.plot_muscle_space_data_js(ax[1])

    fig.tight_layout()

    fig.savefig(fig_name + '.' + format, format=format, dpi=300)

    fig.savefig(fig_name + '.' + 'eps', format='eps', dpi=300)

    fig.show()

def postural_muscle_space_control(model, kp, use_optimization,

                                  fig_name='results/pc_control', format='pdf'):

    """Make use of the muscle space controller for posture control.

    """

    t_end = 3.0

    kd = 10

    delay = 0.02

    a = 15.0

    t0 = 0.1

    sigma = 0.01

    gamma = np.pi

    fig, ax = plt.subplots(2, 3, figsize=(15, 10))

    # muscle space

    muscle_space = MuscleSpace(model, use_optimization=use_optimization)

    controller = PosturalMuscleSpaceController(model, muscle_space, kp, kd,

                                               delay, a, t0, sigma, gamma)

    # numerical integration

    simulation = Simulation(model, controller)

    simulation.integrate(t_end)

    simulation.plot_simulation(ax[0])

    controller.reporter.plot_postural_muscle_space_data(ax[1])

    fig.tight_layout()

    fig.savefig(fig_name + '.' + format, format=format, dpi=300)

    fig.savefig(fig_name + '.' + 'eps', format='eps', dpi=300)

    fig.show()

def export_eom(model):

    """Exports equations of motion of the model in a latex format.

    """

    M = model.M

    f = model.f

    R = model.R

    for i in range(0, M.shape[0]):

        for j in range(0, M.shape[1]):

            print('\\begin{dmath}')

            print('M_{' + str(i + 1) + ',' + str(j + 1) + '} = ' +

                  sp.latex(M[i, j], mode='plain'))

            print('\\end{dmath}')

    for i in range(0, f.shape[0]):

        print('\\begin{dmath}')

        print('f_' + str(i + 1) + ' = ' + sp.latex(f[i], mode='plain'))

        print('\\end{dmath}')

    for i in range(0, R.shape[0]):

        for j in range(0, R.shape[1]):

            print('\\begin{dmath}')

            print('R_{' + str(i + 1) + ',' + str(j + 1) + '} = ' +

                  sp.latex(R[i, j], mode='plain'))

            print('\\end{dmath}')

def draw_model(model):

    """Draw a model in a pre-defined pose.

    """

    fig, ax = plt.subplots(1, 1, figsize=(10, 10), frameon=False)

    model.draw_model([60, 70, 50], True, ax, 1, False)

    fig.tight_layout()

    fig.savefig('results/arm_model.pdf', dpi=600, format='pdf',

                transparent=True, pad_inches=0, bbox_inches='tight')

    fig.savefig('results/arm_model.eps', dpi=600, format='eps',

                transparent=True, pad_inches=0, bbox_inches='tight')

    plt.show()

# ------------------------------------------------------------------------

# main

# ------------------------------------------------------------------------

plt.close('all')

case_study = 5

if case_study == 0:  # joint space

    model = ArmModel(use_gravity=0, use_coordinate_limits=0, use_viscosity=0)

    model.pre_substitute_parameters()

    base_name = 'results/joint_space_control/joint_space'

    controller, t_end = joint_space_control(model, fig_name=base_name)

elif case_study == 1:  # task space and feasible muscle forces

    model = ArmModel(use_gravity=0, use_coordinate_limits=1, use_viscosity=1)

    model.pre_substitute_parameters()

    base_name = 'results/task_space_control/task_space'

    controller, t_end, task = task_space_control(model, np.pi, False,

                                                 fig_name=base_name)

    feasible_muscle_set = FeasibleMuscleSetAnalysis(model, controller.reporter)

    base_name = 'results/feasible_muscle_forces/feasible_forces_ts180_'

    calculate_feasible_muscle_set(feasible_muscle_set,

                                  base_name, 0.0, t_end,

                                  0.1, 500)

elif case_study == 2:  # posture

    model = ArmModel(use_gravity=0, use_coordinate_limits=0, use_viscosity=0)

    model.pre_substitute_parameters()

    base_name = 'results/posture_control/posture_full'

    postural_muscle_space_control(model, 10, True, fig_name=base_name)

    base_name = 'results/posture_control/posture_reflex'

    postural_muscle_space_control(model, 0, True, fig_name=base_name)

elif case_study == 3:  # muscle space

    model = ArmModel(use_gravity=0, use_coordinate_limits=0, use_viscosity=0)

    model.pre_substitute_parameters()

    base_name = 'results/muscle_space_control/muscle_space'

    muscle_space_control(model, False, fig_name=base_name)

elif case_study == 4:  # model export

    model = ArmModel(use_gravity=1, use_coordinate_limits=0, use_viscosity=0)

    draw_model(model)

    export_eom(model)

elif case_study == 5:  # static stiffness

    model = ArmModel(use_gravity=0, use_coordinate_limits=1, use_viscosity=1)

    model.pre_substitute_parameters()

    base_name = 'results/feasible_stiffness/feasible_forces_ts180'

    controller, t_end, task = task_space_control(model, np.pi, True,

                                                 fig_name=base_name)

    feasible_muscle_set = FeasibleMuscleSetAnalysis(model, controller.reporter)

    stiffness_analysis = StiffnessAnalysis(model, task, controller.reporter,

                                           feasible_muscle_set)

    base_name = 'results/feasible_stiffness/feasible_stiffness_ts180_'

    calculate_stiffness_properties(stiffness_analysis, base_name,

                                   0, t_end, 0.2, 500)

else:

    print('Undefined case')