/**
 * Simulation for the Locomotor Primitives (Dominici et. al 2012) in a Human
 * Leg model with 14 Muscles.
 *
 * Author: Tobias Klauser <tobias.klauser@uzh.ch>
 */

#include <OpenSim/OpenSim.h>

#include "LocomotorPrimitivesManager.h"
#include "LocomotorPrimitivesController.h"

#define FIXED_IN_SPACE	1
#define NO_SIM		0

static const std::string MODEL_NAME = "LocomotorPrimitives";
// Define the initial and final simulation time
static const double initialTime = 0.0;
static const double finalTime = 2.0;

static void constructModel(OpenSim::Model &model, std::string actDataFile)
{
	std::cout << "Constructing " << MODEL_NAME << " model" << std::endl;

	// Define controller for the model
	OpenSim::Storage actData(actDataFile);
	LocomotorPrimitivesController *control = new LocomotorPrimitivesController(actData, 0.01);
	control->setActuators(model.updActuators());
	model.addController(control);

	// Set default activation and fiber length on all muscles of the model
	const OpenSim::Set<OpenSim::Actuator> &actSet = model.getActuators();
	int sz = actSet.getSize();
	std::cout << " + Defining initial muscle states for " << sz << " actuators:" << std::endl;

	// Set default activation and fiber length of all muscles
	for (int i = 0; i < sz; i++) {
		OpenSim::ActivationFiberLengthMuscle *m = dynamic_cast<OpenSim::ActivationFiberLengthMuscle *>(&actSet.get(i));
		std::cout << "   " << m->getName() << std::endl;
//		m->setDefaultActivation(0.5);
//		m->setDefaultFiberLength(0.1);
	}

	// Create the force reporter for obtaining the forces applied to the model
	// during a forward simulation
	OpenSim::ForceReporter *reporter = new OpenSim::ForceReporter(&model);
	model.addAnalysis(reporter);

	std::cout << "Finished constructing model" << std::endl;
}

void simulateModel(OpenSim::Model &model)
{
	if (NO_SIM) {
		std::cout << "Skipping simulation as per NO_SIM=" << NO_SIM << std::endl;
		return;
	}

	std::cout << "Simulating model " << MODEL_NAME << std::endl;
	std::cout << " + Initializing system" << std::endl;
	SimTK::State &si = model.initSystem();

	std::cout << " + Creating integrator" << std::endl;
	// Create the integrator and manager for the simulation
	SimTK::RungeKuttaMersonIntegrator integrator(model.getMultibodySystem());
	integrator.setAccuracy(1.0e-4);
	std::cout << " + Creating simulation manager" << std::endl;

	LocomotorPrimitivesManager manager(model, integrator);

	// Integrate from initial time to final time
	manager.setInitialTime(initialTime);
	manager.setFinalTime(finalTime);
	std::cout << " + Integrating from " << std::fixed << initialTime << " to " << std::fixed << finalTime << std::endl;
	manager.integrate(si);

	// Save the model states from forward integration
	OpenSim::Storage statesDegrees(manager.getStateStorage());
	statesDegrees.print(MODEL_NAME + "_states.sto");

	// Save the forces
	OpenSim::Analysis &reporter = model.getAnalysisSet()[0];
	((OpenSim::ForceReporter &)reporter).getForceStorage().print(MODEL_NAME + "_forces.mot");
}

static void usage()
{
	std::cout << "usage: " << MODEL_NAME << " [OPTION...]" << std::endl << std::endl
		  << "  -d FILE  specify .sto datafile to use for muscle activation data" << std::endl
		  << "  -m FILE  specify .osim to use as model" << std::endl
		  << "  -h       show this help and exit" << std::endl;
}

int main(int argc, char **argv)
{
	clock_t ts_start = clock();

	/* set default values (to work on windows) */
	std::string modelFile = FIXED_IN_SPACE ? "../../locomotor-primitives-fixed.osim" : "../../locomotor-primitives.osim";
	std::string dataFile = "../../data/adults.sto";

	for (int i = 1; (i < argc) && (argv[i][0] == '-'); i++) {
		switch (argv[i][1]) {
		case 'd':
			dataFile = argv[++i];
			break;
		case 'm':
			modelFile = argv[++i];
			break;
		case 'h':
			usage();
			exit(0);
		default:
			std::cerr << "unknown option: -" << argv[i][1] << std::endl;
			usage();
			exit(-1);
		}
	}

	std::cout << "Starting simulation " + MODEL_NAME << " with (" << modelFile << ", " << dataFile << ")" << std::endl;

	try {
		// Create an OpenSim model and set its name
		OpenSim::Model osimModel(modelFile);
		osimModel.setName(MODEL_NAME);
		constructModel(osimModel, dataFile);

		osimModel.setUseVisualizer(false);
		simulateModel(osimModel);
	} catch (OpenSim::Exception ex) {
		std::cout << ex.getMessage() << std::endl;
		std::cin.get();
		return 1;
	} catch (std::exception ex) {
		std::cout << ex.what() << std::endl;
		std::cin.get();
		return 1;
	} catch (...) {
		std::cout << "UNRECOGNIZED EXCEPTION" << std::endl;
		std::cin.get();
		return 1;
	}

	std::cout << "main() routine time = " << 1.e3*(clock()-ts_start)/CLOCKS_PER_SEC << "ms" << std::endl;

	std::cout << "Simulation " + MODEL_NAME << " completed successfully." << std::endl;
	std::cin.get();
	return 0;
}