/**
 * 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::cout << "Constructing " << MODEL_NAME << " model" << std::endl;

	// Define controller for the model
	OpenSim::Storage actData("../../data/adults.sto");
	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");
}

int main(void)
{
	clock_t ts_start = clock();

	try {
		// Create an OpenSim model and set its name
		std::string modelName = FIXED_IN_SPACE ? "locomotor-primitives-fixed.osim" : "locomotor-primitives.osim";
		OpenSim::Model osimModel("../../" + modelName);
		osimModel.setName(MODEL_NAME);
		constructModel(osimModel);

		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;
}