%CODEGENERATOR.GENMEXINVDYN Generate C-MEX-function for inverse dynamics
%
% cGen.genmexinvdyn() generates a robot-specific MEX-function to compute
% the inverse dynamics.
% 
% Notes::
% - Is called by CodeGenerator.geninvdyn if cGen has active flag genmex.
% - The MEX file uses the .c and .h files generated in the directory 
%   specified by the ccodepath property of the CodeGenerator object.
% - Access to generated function is provided via subclass of SerialLink
%   whose class definition is stored in cGen.robjpath.
% - You will need a C compiler to use the generated MEX-functions. See the 
%   MATLAB documentation on how to setup the compiler in MATLAB. 
%   Nevertheless the basic C-MEX-code as such may be generated without a
%   compiler. In this case switch the cGen flag compilemex to false.
%
% Author::
%  Joern Malzahn, (joern.malzahn@tu-dortmund.de)
%
% See also CodeGenerator.CodeGenerator, CodeGenerator.gengravload.

% Copyright (C) 2012-2014, by Joern Malzahn
%
% This file is part of The Robotics Toolbox for Matlab (RTB).
%
% RTB is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
%
% RTB is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
% GNU Lesser General Public License for more details.
%
% You should have received a copy of the GNU Leser General Public License
% along with RTB. If not, see <http://www.gnu.org/licenses/>.
%
% http://www.petercorke.com

function [] = genmexinvdyn(CGen)

CGen.logmsg([datestr(now),'\tGenerating inverse dynamics MEX-function: ']);

mexfunname = 'invdyn';
mexcfilename = fullfile(CGen.robjpath,[mexfunname,'.c']);

cfunname = [CGen.getrobfname,'_',mexfunname];
cfilename = [cfunname '.c'];
hfilename = [cfunname '.h'];



[Q, QD, QDD] = CGen.rob.gencoords;

% Function description header
hStruct = createHeaderStruct(CGen.rob,mexfunname); 
hFString = CGen.constructheaderstringc(hStruct);

fid = fopen(mexcfilename,'w+');

% Insert description header
fprintf(fid,'%s\n',hFString);

% Includes
fprintf(fid,'%s\n%s\n\n',...
    '#include "mex.h"',...
    ['#include "',hfilename,'"']);

dummy = sym(zeros(CGen.rob.n,1));
% Generate the mex gateway routine
funstr = CGen.genmexgatewaystring(dummy,'funname',cfunname, 'vars',{Q, QD, QDD});
fprintf(fid,'%s',sprintf(funstr));

fclose(fid);

%% Compile the MEX file
srcDir = fullfile(CGen.ccodepath,'src');
hdrDir = fullfile(CGen.ccodepath,'include');

cfilelist = fullfile(srcDir,cfilename);
for kJoints = 1:CGen.rob.n
    cfilelist = [cfilelist, ' ',fullfile(srcDir,[CGen.getrobfname,'_inertia_row_',num2str(kJoints),'.c'])];
end
for kJoints = 1:CGen.rob.n
    cfilelist = [cfilelist, ' ',fullfile(srcDir,[CGen.getrobfname,'_coriolis_row_',num2str(kJoints),'.c'])];
end

cfilelist = [cfilelist, ' ', fullfile(srcDir,[CGen.getrobfname,'_gravload.c'])];
cfilelist = [cfilelist, ' ', fullfile(srcDir,[CGen.getrobfname,'_friction.c'])];
cfilelist = [cfilelist, ' ', fullfile(srcDir,'dotprod.c')];

if CGen.verbose
    eval(['mex ',mexcfilename, ' ',cfilelist,' -I',hdrDir, ' CFLAGS=-Wno-incompatible-pointer-types -v -outdir ',CGen.robjpath]);   
else
    eval(['mex ',mexcfilename, ' ',cfilelist,' -I',hdrDir,' CFLAGS=-Wno-incompatible-pointer-types -outdir ',CGen.robjpath]);
end



CGen.logmsg('\t%s\n',' done!');

end

%% Definition of the header contents for each generated file
function hStruct = createHeaderStruct(rob,fname)
[~,hStruct.funName] = fileparts(fname);
hStruct.calls = '';
hStruct.shortDescription = ['C-implementation of the inverse dynamics for the ',rob.name,' arm.'];
hStruct.detailedDescription = {'Given a full set of joint variables and their first and second order',...
    'temporal derivatives this function computes the joint space',...
    'torques needed to perform the particular motion. Angles have to be given in radians!'};
hStruct.inputs = { ['input1:  ',int2str(rob.n),'-element vector of generalized coordinates'],...
                   ['input2:  ',int2str(rob.n),'-element vector of generalized velocities,'],...
                   ['input3:  ',int2str(rob.n),'-element vector of generalized accelerations.']};
hStruct.outputs = {['TAU:  [',int2str(rob.n),'x1] vector of joint forces/torques.']};
hStruct.references = {'Robot Modeling and Control - Spong, Hutchinson, Vidyasagar',...
    'Modelling and Control of Robot Manipulators - Sciavicco, Siciliano',...
    'Introduction to Robotics, Mechanics and Control - Craig',...
    'Modeling, Identification & Control of Robots - Khalil & Dombre'};
hStruct.authors = {'This is an autogenerated function!',...
    'Code generator written by:',...
    'Joern Malzahn (joern.malzahn@tu-dortmund.de)'};
hStruct.seeAlso = {'fdyn'};
end
