#A programm to design an MPC on a bio reactor model
#Auther: Amirreza Zamani Meighani
#Supervisors: Johannes Jäschke - Mandar Thombre
#Autumn 2020
#NTNU, Trondheim, Chemical Engineering Department
##Start of the code:


include("Plant.jl")
include("NMPC.jl")

include("Parameters.jl")

using Plots
## Defining Simulation Parameters
clearconsole()

sim_par = Simulation_Data()

    T0_sim  = sim_par[:T0_sim]
    Tf_sim  = sim_par[:Tf_sim]
    dt_sim  = sim_par[:dt_sim]
    Tf_MPC  = sim_par[:Tf_MPC]
    dt_MPC  = sim_par[:dt_MPC]
    NCP     = sim_par[:NCP]
    NFE_sim = sim_par[:NFE_sim]
    NFE_MPC = sim_par[:NFE_MPC]
    uk      = sim_par[:uk]
    xₛₚ     = sim_par[:xₛₚ]
    xk      = sim_par[:xk]
    U_Plot = [];
    X1_Plot = [];
    X2_Plot = [];

    # push the starting point into the final vectors
    push!(U_Plot, uk[1])
    push!(X1_Plot, xk[1])
    push!(X2_Plot, xk[2])
## Options for plotting, saving the figure and Eporting the data
Plotting    = false;
Fig_Save    = false;
Export_Vars = false;

## Simulation of the plant
println("Start Simulation!")
for k in 1:NFE_sim
    global xk, uk, dt_sim
    xₛₚ_MPC = xₛₚ[k:k - 1 + NFE_MPC]
    uk = Solve_MPC(xk, uk, xₛₚ_MPC,NFE_MPC, NCP)
    xk = Plant(xk, uk, dt_sim);
    push!(U_Plot, uk[1])
    push!(X1_Plot, xk[1])
    push!(X2_Plot, xk[2])
end
println("The objective function is satisfied successfully!")
## Plotting with the option to show/not show the figure. Also different backends can be choose!

t_plot = collect(T0_sim:dt_sim:Tf_sim)
p11 = plot( t_plot,[X1_Plot[nIter]  for nIter in 1:NFE_sim+1],label="x1")
p11 = plot!(t_plot,[X2_Plot[nIter]  for nIter in 1:NFE_sim+1],label="x2")
p11 = plot!(t_plot, xₛₚ[1:NFE_sim + 1],                       label="y_sp", linetype=:steppost, linestyle=:dash)
p12 = plot(t_plot[1:end], [U_Plot[nIter]  for nIter in 1:NFE_sim+1],    label="u",              linetype=:steppost)
fig1 = plot(p11, p12, layout=(2, 1));
#Checking the choosed Options for plotting
if Fig_Save == true
    savefig(fig1,"MPC_Results.svg")
end

if Plotting == true
        plotlyjs()
        #gr()
        println("Start Plotting!")
        display(fig1)
        println("Finish Plotting!")
end
## Exporting Data
if Export_Vars == true
    println("Start Exporting Data!")
    using CSV
    using DataFrames
    df = DataFrame(Name = ["x1","x2","U","SetPoint","Time"],
                   Value = [X1_Plot, X2_Plot, U_Plot, xₛₚ[1:NFE_sim+1], t_plot]
                   )
    CSV.write("MPC_Results.csv", df)
    println("Finish Exporting Data!")
end