clear;       %clear all the memory
close all;   %close all the open windows
%% Configuration file for simulating the Simulink model "autotrans_mod04"
% Variables:
%    - stime - simulation_time (unit sec)
%    - dt - integration step (unit sec)
%    - piecewise_throttle - define the input signal of the throttle
%    - piecewise_break - define the input signal of the break

dt            =  0.01;
endtime         =  32;
solver        = 'ode5';

model_name         = 'autotrans_mod04';
input_labels  = {'time', 'throttle', 'brake'};
output_labels = {'engine speed in rpm', 'vehicle speed in mph', 'gear'};

fprintf('Settings\n\n');
fprintf('\t dt     = %f \n',  dt    );
fprintf('\t endtime  = %f \n',  endtime );
fprintf('\t solver = %s \n\n',solver);


% piecewise_throttle = [  0,  5,   5, 10, 10, 15, 15, 20, 20, 25, 25, endtime;   %time
%                       52, 52,  95, 95, 60, 60, 85, 85, 75, 75, 80,   80];   %value
%                    
% piecewise_brake    = [  0, endtime;   %time
%                        0,    0];   %value
                   
n_controlpoints = 12;
[piecewise_throttle, piecewise_brake] = generate_inputs (endtime,n_controlpoints );                   
%% Generating input signals
%

fprintf('Generating input signals\n');

time = 0:dt:endtime;

size_t = size(time,2);
input_throttle = zeros(size_t,1);
input_brake    = zeros(size_t,1);

for s=1:size_t
    input_throttle(s) = piecewise(time(s), piecewise_throttle);
    input_brake(s)    = piecewise(time(s), piecewise_brake);
end

input = zeros(size_t,3);

input(:,1) = time';
input(:,2) = input_throttle';
input(:,3) = input_brake';


load('opt_input.mat')
%% Simulating Simulink Model 

fprintf('Simulation of Simulink Model \n');


simopt = simget(model_name);
%Setting the Simulink simulation option.
simopt = simset(simopt,'solver', solver, 'FixedStep', dt, 'SaveFormat','Array');
[time, xt, output] = sim(model_name,[input(1,1,1) input(end,1,1)], simopt, input);


%% Plotting the simulation
fprintf('Plotting simulation \n');
plotting (input, output, input_labels, output_labels);


%% Monitoring parameters 

 
engine_speed_thresholds  = [4500,5000,5200,5500];  % omega
vehicle_speed_thresholds = [ 120, 160, 170, 200];  % v
time_bounds              = [   4,   8,  10,  20];



%% Monitoring property with Moonlight

% alw (( e_speed[t] < 4500 ) and (v_speed[t] < 160))

st_spec2 = '[] (a1 /\ a2)';

%a1: e_speed[t] < 4500

st_spec2_Pred(1).str = 'a1';
st_spec2_Pred(1).A = [0 1 0];
st_spec2_Pred(1).b = engine_speed_thresholds(1);

%a2: (v_speed[t] < 160)

st_spec2_Pred(2).str = 'a2';
st_spec2_Pred(2).A = [1 0 0];
st_spec2_Pred(2).b = vehicle_speed_thresholds(1);

rob2  = fw_taliro(st_spec2,st_spec2_Pred,output,time);