// Copyright 2023 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef MUJOCO_PLUGIN_ACTUATOR_PID_H_
#define MUJOCO_PLUGIN_ACTUATOR_PID_H_

#include <memory>
#include <optional>
#include <vector>

#include <mujoco/mjdata.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>

namespace mujoco::plugin::actuator {

struct PidConfig {
  double p_gain = 0.0;
  double i_gain = 0.0;
  double d_gain = 0.0;

  // Maximum value of the error integral.
  // NOTE: In the XML definition, the clamp values are specified as limits on
  // the *force* value, so are scaled by i_gain.
  std::optional<double> i_max;

  // Maximum speed at which the setpoint can change.
  std::optional<double> slew_max;

  // Reads plugin attributes to construct PID configuration.
  static PidConfig FromModel(const mjModel* m, int instance);
};

// An actuator plugin which implements configurable PID control.
class Pid {
 public:
  // Returns an instance of Pid. The result can be null in case of
  // misconfiguration.
  static std::unique_ptr<Pid> Create(const mjModel* m, int instance);

  // Returns the number of state variables for the plugin instance
  static int StateSize(const mjModel* m, int instance);

  // Resets the C++ Pid instance's state.
  // plugin_state is a C array pointer into mjData->plugin_state, with a size
  // equal to the value returned from StateSize.
  void Reset(mjtNum* plugin_state);

  // Computes the rate of change for activation variables
  void ActDot(const mjModel* m, mjData* d, int instance) const;

  // Idempotent computation which updates d->actuator_force and the internal
  // state of the class. Called after ActDot.
  void Compute(const mjModel* m, mjData* d, int instance);

  // Updates plugin state.
  void Advance(const mjModel* m, mjData* d, int instance) const;

  // Adds the PID plugin to the global registry of MuJoCo plugins.
  static void RegisterPlugin();

 private:
  Pid(PidConfig config, std::vector<int> actuators);

  // Returns the expected number of activation variables for the instance.
  static int ActDim(const mjModel* m, int instance, int actuator_id);

  struct State {
    mjtNum previous_ctrl = 0;
    // if using slew rate limits, mjData.act will contain an activation variable
    // with the last ctrl value. If `false`, that value should be ignored,
    // because it hasn't been set yet.
    bool previous_ctrl_exists = false;
    mjtNum integral = 0;
  };
  // Reads data from d->act and returns it as a State struct.
  State GetState(const mjModel* m, mjData* d, int actuator_idx) const;

  // Returns the PID setpoint, which is normally d->ctrl, but can be d->act for
  // actuators with dyntype != none.
  mjtNum GetCtrl(const mjModel* m, const mjData* d, int actuator_idx,
                 const State& state, bool actearly) const;

  PidConfig config_;
  // set of actuator IDs controlled by this plugin instance.
  std::vector<int> actuators_;
};

}  // namespace mujoco::plugin::actuator

#endif  // MUJOCO_PLUGIN_ACTUATOR_PID_H_