# Path: deluca/lung/core.py
# class BreathWaveform(deluca.Obj):
#   r"""Waveform generator with shape |‾\_."""
#   peep: float = deluca.field(5., jaxed=False)
#   pip: float = deluca.field(35., jaxed=False)
#   bpm: int = deluca.field(20, jaxed=False)
#   fp: jnp.array = deluca.field(jaxed=False)
#   xp: jnp.array = deluca.field(jaxed=False)
#   in_bounds: Tuple[int, int] = deluca.field((0, 1), jaxed=False)
#   ex_bounds: Tuple[int, int] = deluca.field((2, 4), jaxed=False)
#   period: float = deluca.field(jaxed=False)
#   dt: float = deluca.field(DEFAULT_DT, jaxed=False)
#   dtype: jax._src.numpy.lax_numpy._ScalarMeta = deluca.field(
#       jnp.float32, jaxed=False)
# 
#   def setup(self):
#     if self.fp is None:
#       self.fp = jnp.array([self.pip, self.pip, self.peep, self.peep, self.pip])
#     if self.xp is None:
#       self.xp = jnp.array(DEFAULT_XP)
#     self.period = 60 / self.bpm
# 
#   def at(self, t):
# 
#     @functools.partial(jax.jit, static_argnums=(3,))
#     def static_interp(t, xp, fp, period):
#       return jnp.interp(t, xp, fp, period=period)
# 
#     return static_interp(t, self.xp, self.fp, self.period).astype(self.dtype)
# 
#   def elapsed(self, t):
#     return t % self.period
# 
#   def is_in(self, t):
#     return self.elapsed(t) <= self.xp[self.in_bounds[1]]
# 
#   def is_ex(self, t):
#     return not self.is_in(t)
# 
# Path: deluca/lung/core.py
# class Controller(deluca.Agent):
#   """Controller."""
# 
#   def init(self, waveform=None):
#     if waveform is None:
#       waveform = BreathWaveform.create()
#     return ControllerState()
# 
#   @property
#   def max(self):
#     return 100
# 
#   @property
#   def min(self):
#     return 0
# 
#   def decay(self, waveform, t):
#     elapsed = waveform.elapsed(t)
# 
#     def false_func():
#       result = jax.lax.cond(
#           elapsed < waveform.xp[waveform.ex_bounds[0]], lambda x: 0.0,
#           lambda x: 5 * (1 - jnp.exp(5 * (waveform.xp[waveform.ex_bounds[
#               0]] - elapsed))).astype(waveform.dtype), None)
#       return result
# 
#     # float(inf) as substitute to None since cond requries same type output
#     result = jax.lax.cond(elapsed < waveform.xp[waveform.in_bounds[1]],
#                           lambda x: float("inf"), lambda x: false_func(), None)
#     return result
# 
# Path: deluca/lung/core.py
# DEFAULT_DT = 0.03
# 
# Path: deluca/lung/core.py
# def proper_time(t):
#   return jax.lax.cond(t == float("inf"), lambda x: 0., lambda x: x, t)


import deluca.core
import jax
import jax.numpy as jnp
from deluca.lung.core import BreathWaveform
from deluca.lung.core import Controller
from deluca.lung.core import DEFAULT_DT
from deluca.lung.core import proper_time
# Copyright 2022 The Deluca Authors.
#
# 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.

"""bang bang controller."""


class BangBang(Controller):
  """bang bang controller."""
  waveform: BreathWaveform = deluca.field(jaxed=False)
  min_action: float = deluca.field(0.0, jaxed=False)
  max_action: float = deluca.field(100.0, jaxed=False)

  def setup(self):
    if self.waveform is None:

# Path: deluca/lung/core.py
# class BreathWaveform(deluca.Obj):
#   r"""Waveform generator with shape |‾\_."""
#   peep: float = deluca.field(5., jaxed=False)
#   pip: float = deluca.field(35., jaxed=False)
#   bpm: int = deluca.field(20, jaxed=False)
#   fp: jnp.array = deluca.field(jaxed=False)
#   xp: jnp.array = deluca.field(jaxed=False)
#   in_bounds: Tuple[int, int] = deluca.field((0, 1), jaxed=False)
#   ex_bounds: Tuple[int, int] = deluca.field((2, 4), jaxed=False)
#   period: float = deluca.field(jaxed=False)
#   dt: float = deluca.field(DEFAULT_DT, jaxed=False)
#   dtype: jax._src.numpy.lax_numpy._ScalarMeta = deluca.field(
#       jnp.float32, jaxed=False)
# 
#   def setup(self):
#     if self.fp is None:
#       self.fp = jnp.array([self.pip, self.pip, self.peep, self.peep, self.pip])
#     if self.xp is None:
#       self.xp = jnp.array(DEFAULT_XP)
#     self.period = 60 / self.bpm
# 
#   def at(self, t):
# 
#     @functools.partial(jax.jit, static_argnums=(3,))
#     def static_interp(t, xp, fp, period):
#       return jnp.interp(t, xp, fp, period=period)
# 
#     return static_interp(t, self.xp, self.fp, self.period).astype(self.dtype)
# 
#   def elapsed(self, t):
#     return t % self.period
# 
#   def is_in(self, t):
#     return self.elapsed(t) <= self.xp[self.in_bounds[1]]
# 
#   def is_ex(self, t):
#     return not self.is_in(t)
# 
# Path: deluca/lung/core.py
# class Controller(deluca.Agent):
#   """Controller."""
# 
#   def init(self, waveform=None):
#     if waveform is None:
#       waveform = BreathWaveform.create()
#     return ControllerState()
# 
#   @property
#   def max(self):
#     return 100
# 
#   @property
#   def min(self):
#     return 0
# 
#   def decay(self, waveform, t):
#     elapsed = waveform.elapsed(t)
# 
#     def false_func():
#       result = jax.lax.cond(
#           elapsed < waveform.xp[waveform.ex_bounds[0]], lambda x: 0.0,
#           lambda x: 5 * (1 - jnp.exp(5 * (waveform.xp[waveform.ex_bounds[
#               0]] - elapsed))).astype(waveform.dtype), None)
#       return result
# 
#     # float(inf) as substitute to None since cond requries same type output
#     result = jax.lax.cond(elapsed < waveform.xp[waveform.in_bounds[1]],
#                           lambda x: float("inf"), lambda x: false_func(), None)
#     return result
# 
# Path: deluca/lung/core.py
# DEFAULT_DT = 0.03
# 
# Path: deluca/lung/core.py
# def proper_time(t):
#   return jax.lax.cond(t == float("inf"), lambda x: 0., lambda x: x, t)


# Path: deluca/lung/controllers/_bang_bang.py
import deluca.core
import jax
import jax.numpy as jnp
from deluca.lung.core import BreathWaveform
from deluca.lung.core import Controller
from deluca.lung.core import DEFAULT_DT
from deluca.lung.core import proper_time

# Copyright 2022 The Deluca Authors.
#
# 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.

"""bang bang controller."""


class BangBang(Controller):
  """bang bang controller."""
  waveform: BreathWaveform = deluca.field(jaxed=False)
  min_action: float = deluca.field(0.0, jaxed=False)
  max_action: float = deluca.field(100.0, jaxed=False)

  def setup(self):
    if self.waveform is None:

      self.waveform = BreathWaveform.create()