import numpy as np
from matplotlib.pyplot import plot, figure, subplot, grid, show, legend
from components.plant.pot import Pot
from components.pid.temp_controller_smith import TempController
from components.pid.tc_constants import Test


if __name__ == '__main__':
	dt = 1.0

	temp_soll = 20
	ctrl = TempController(dt, Test.tc_ctrl_params, Test.tc_model_params)
	plant = Pot(dt, Test.tc_pot_params)
	_y = np.empty(0)
	_fb = np.empty(0)
	_t = np.empty(0)
	_temp_soll = np.empty(0)
	_temp_ist_kalman = np.empty(0)
	_heatrate_ist_kalman = np.empty(0)
	_temp_ist_kalman_plant = np.empty(0)
	_heatrate_ist_kalman_plant = np.empty(0)
	_temp_ist_kalman_model = np.empty(0)
	_heatrate_ist_kalman_model = np.empty(0)
	a = 0.5
	fb = 0
	rho = 0.02
	temps = [{'Temp': 20, 'Duration': 1000}, {'Temp': 40, 'Duration': 1000}, {'Temp': 50, 'Duration': 1000}, {'Temp': 60, 'Duration': 1000}, {'Temp': 70, 'Duration': 1000}, {'Temp': 80, 'Duration': 1000}, {'Temp': 78, 'Duration': 1000}]

	t = 0

	for temp in temps:
		temp_soll = temp['Temp']
		hold_counter = temp['Duration']
		hold = False
		ctrl.set_theta_soll(temp_soll)
		ctrl.set_heatrate_soll(1.0)

		while True:
			if hold:
				if hold_counter == 0:
					break
				hold_counter -= 1
			plant.process()
			temp_ist = plant.get_temperature()
			ctrl.set_theta_ist(temp_ist)
			ctrl.process()

			y = 3500*ctrl.get_power()
			power = max(0, y)
			plant.set_power(power)
			fb = plant.get_power()
			if abs(temp_ist - temp_soll) < 0.1:
				hold = True

			_y = np.append(_y, y)
			_fb = np.append(_fb, fb)
			_t = np.append(_t, t)
			_temp_soll = np.append(_temp_soll, temp_soll)
			_temp_ist_kalman_plant = np.append(_temp_ist_kalman_plant, ctrl.theta_ist_plant)
			_heatrate_ist_kalman_plant = np.append(_heatrate_ist_kalman_plant, max(-1, min(3, ctrl.dtheta_ist_plant)))
			_temp_ist_kalman_model = np.append(_temp_ist_kalman_model, ctrl.theta_ist_model_delay)
			_heatrate_ist_kalman_model = np.append(_heatrate_ist_kalman_model, max(-1, min(3, ctrl.dtheta_ist_model_delay)))
			t += 1

	figure(1)
	subplot(3, 1, 1)
	plot(_t, _temp_ist_kalman_plant, _t, _temp_soll, 'r-', linewidth=1)
	legend(["ist", "soll"])
	grid(True)
	subplot(3, 1, 2)
	plot(_t, _y, '-b', _t, _fb, '-r', linewidth=1)
	legend(["y", "pot"])
	grid(True)
	subplot(3, 1, 3)
	plot(_t, _heatrate_ist_kalman_plant, '-b', linewidth=1)
	legend(["heatrate"])
	grid(True)

	figure(2)
	subplot(2, 1, 1)
	plot(_t, _temp_ist_kalman_plant, '-b', _t, _temp_ist_kalman_model, 'r-', linewidth=1)
	legend(["plant", "model"])
	grid(True)
	subplot(2, 1, 2)
	plot(_t, _heatrate_ist_kalman_plant, '-b', _t, _heatrate_ist_kalman_model, '-r', linewidth=1)
	legend(["plant", "model"])
	grid(True)
	show()

	print("End of program")