% runSimulation
%   :PROPERTIES:
%   :header-args:matlab+: :tangle src/runSimulation.m
%   :header-args:matlab+: :comments org :mkdirp yes
%   :header-args:matlab+: :eval no :results none
%   :END:
%   <<sec:runSimulation>>

% This Matlab function is accessible [[file:src/runSimulation.m][here]].


function [] = runSimulation(sys_name, sys_mass, ctrl_type, act_damp)
    %% Load the controller and save it for the simulation
    if strcmp(ctrl_type, 'cl') && strcmp(act_damp, 'none')
        K_obj = load('./mat/K_fb.mat');
        K = K_obj.(sprintf('K_%s_%s', sys_mass, sys_name)); %#ok
        save('./mat/controllers.mat', 'K');
    elseif strcmp(ctrl_type, 'cl') && strcmp(act_damp, 'iff')
        K_obj = load('./mat/K_fb_iff.mat');
        K = K_obj.(sprintf('K_%s_%s_iff', sys_mass, sys_name)); %#ok
        save('./mat/controllers.mat', 'K');
    elseif strcmp(ctrl_type, 'ol')
        K = tf(zeros(6)); %#ok
        save('./mat/controllers.mat', 'K');
    else
        error('ctrl_type should be cl or ol');
    end

    %% Active Damping
    if strcmp(act_damp, 'iff')
        K_iff_crit = load('./mat/K_iff_crit.mat');
        K_iff = K_iff_crit.(sprintf('K_iff_%s_%s', sys_mass, sys_name)); %#ok
        save('./mat/controllers.mat', 'K_iff', '-append');
    elseif strcmp(act_damp, 'none')
        K_iff = tf(zeros(6)); %#ok
        save('./mat/controllers.mat', 'K_iff', '-append');
    end

    %%
    if strcmp(sys_name, 'pz')
      initializeNanoHexapod(struct('actuator', 'piezo'));
    elseif strcmp(sys_name, 'vc')
        initializeNanoHexapod(struct('actuator', 'lorentz'));
    else
        error('sys_name should be pz or vc');
    end

    if strcmp(sys_mass, 'light')
      initializeSample(struct('mass', 1));
    elseif strcmp(sys_mass, 'heavy')
        initializeSample(struct('mass', 50));
    else
        error('sys_mass should be light or heavy');
    end

    %% Run the simulation
    sim('sim_nano_station_ctrl.slx');

    %% Split the Dsample matrix into vectors
    [Dx, Dy, Dz, Rx, Ry, Rz] = matSplit(Es.Data, 1); %#ok
    time = Dsample.Time; %#ok

    %% Save the result
    filename = sprintf('sim_%s_%s_%s_%s', sys_mass, sys_name, ctrl_type, act_damp);
    save(sprintf('./mat/%s.mat', filename), ...
        'time', 'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz', 'K');
end