import numpy as np

from .dc_motor import DcMotor


class DcSeriesMotor(DcMotor):
    """The DcSeriesMotor is a DcMotor with an armature and exciting circuit connected in series to one input voltage.

    =====================  ==========  ============= ===========================================
    Motor Parameter        Unit        Default Value Description
    =====================  ==========  ============= ===========================================
    r_a                    Ohm         16e-3         Armature circuit resistance
    r_e                    Ohm         48e-3         Exciting circuit resistance
    l_a                    H           19e-6         Armature circuit inductance
    l_e                    H           5.4e-3        Exciting circuit inductance
    l_e_prime              H           1.7e-3        Effective excitation inductance
    j_rotor                kg/m^2      0.025         Moment of inertia of the rotor
    =====================  ==========  ============= ===========================================

    =============== ====== =============================================
    Motor Currents  Unit   Description
    =============== ====== =============================================
    i               A      Circuit current
    =============== ====== =============================================
    =============== ====== =============================================
    Motor Voltages  Unit   Description
    =============== ====== =============================================
    u               V      Circuit voltage
    =============== ====== =============================================

    ======== ===========================================================
    Limits / Nominal Value Dictionary Entries:
    -------- -----------------------------------------------------------
    Entry    Description
    ======== ===========================================================
    i        Circuit Current
    omega    Angular Velocity
    torque   Motor generated torque
    u        Circuit Voltage
    ======== ===========================================================
    """

    HAS_JACOBIAN = True
    I_IDX = 0
    CURRENTS_IDX = [0]
    CURRENTS = ["i"]
    VOLTAGES = ["u"]

    # Motor parameter, nominal values and limits are based on the following DC Motor:
    # https://www.heinzmann-electric-motors.com/en/products/dc-motors/pmg-132-dc-motor
    _default_motor_parameter = {
        "r_a": 16e-3,
        "r_e": 48e-3,
        "l_a": 19e-6,
        "l_e_prime": 1.7e-3,
        "l_e": 5.4e-3,
        "j_rotor": 0.0025,
    }
    _default_nominal_values = dict(omega=300, torque=16.0, i=97, i_a=97, i_e=97, u=60, u_a=60, u_e=60)
    _default_limits = dict(omega=400, torque=38.0, i=210, i_a=210, i_e=210, u=60, u_a=60, u_e=60)
    _default_initializer = {
        "states": {"i": 0.0},
        "interval": None,
        "random_init": None,
        "random_params": (None, None),
    }

    def _update_model(self):
        # Docstring of superclass
        mp = self._motor_parameter
        self._model_constants = np.array([[-mp["r_a"] - mp["r_e"], -mp["l_e_prime"], 1]])
        self._model_constants[self.I_IDX] = self._model_constants[self.I_IDX] / (mp["l_a"] + mp["l_e"])

    def torque(self, currents):
        # Docstring of superclass
        return super().torque([currents[self.I_IDX], currents[self.I_IDX]])

    def electrical_ode(self, state, u_in, omega, *_):
        # Docstring of superclass
        return np.matmul(
            self._model_constants,
            np.array([state[self.I_IDX], omega * state[self.I_IDX], u_in[0]]),
        )

    def i_in(self, state):
        # Docstring of superclass
        return state[self.CURRENTS_IDX]

    def _update_limits(self):
        # Docstring of superclass

        # R_a might be 0, protect against that
        r_a = 1 if self._motor_parameter["r_a"] == 0 else self._motor_parameter["r_a"]
        limits_agenda = {
            "u": self._default_limits["u"],
            "i": self._limits["u"] / (r_a + self._motor_parameter["r_e"]),
        }
        super()._update_limits(limits_agenda)

    def get_state_space(self, input_currents, input_voltages):
        # Docstring of superclass
        low = {
            "omega": 0,
            "torque": 0,
            "i": -1 if input_currents.low[0] == -1 else 0,
            "u": -1 if input_voltages.low[0] == -1 else 0,
        }
        high = {
            "omega": 1,
            "torque": 1,
            "i": 1,
            "u": 1,
        }
        return low, high

    def electrical_jacobian(self, state, u_in, omega, *_):
        mp = self._motor_parameter
        return (
            np.array([[-(mp["r_a"] + mp["r_e"] + mp["l_e_prime"] * omega) / (mp["l_a"] + mp["l_e"])]]),
            np.array([-mp["l_e_prime"] * state[self.I_IDX] / (mp["l_a"] + mp["l_e"])]),
            np.array([2 * mp["l_e_prime"] * state[self.I_IDX]]),
        )
