#!/usr/bin/env python

# 12.2

import os, sys

sys.path += [os.getcwdu() + os.sep + ".." + os.sep + "python"]

import pylab as pl

from xdync import xdync

from polyfuncs import polmul, poladd

def gpc_Nc(A, dA, B, dB, C, dC, k, N1, N2, Nu, rho):

    D, dD = pl.array([1, -1]), 1

    AD, dAD = pl.convolve(A, D), dA+1

    zj, dzj = 1, 0

    for i in range(N1+k-1):

        zj = sp.convolve(zj, [0,1])

        dzj += 1

    M = 2*k+N2-2+dB

    P = max(k+N2+dA-1, dC-1)

    G = pl.zeros((N2-N1+1, Nu+1))

    H1 = pl.zeros((N2-N1+1, M))

    H2 = pl.zeros((N2-N1+1, P+1))

    for j in range(k+N1, k+N2+1):

        zj = pl.convolve(zj, [0,1])

        dzj = dzj + 1

        Fj, dFj, Ej, dEj = xdync(zj, dzj, AD, dAD, C, dC)[:4]

        Nj, dNj, Mj, dMj = xdync(zj, dzj, C, dC, 1, 0)[:4]

        Gj, dGj = polmul(Mj, dMj, Ej, dEj)

        Gj, dGj = polmul(Gj, dGj, B, dB)

        Pj, dPj = polmul(Mj, dMj, Fj, dFj)

        Pj, dPj = poladd(Nj, dNj, Pj, dPj)

        if j-k >= Nu:

            G[j-(k+N1),:Nu+1] = Gj[range(j-k, j-k-Nu-1, -1)]

        else:

            G[j-(k+N1),:j-k+1] = Gj[j-k::-1]

        H1[j-(k+N1),:j+k-2+dB] = Gj[j-k+1:2*j+dB-1]

        dPj = max(j-1+dA, dC-1)

        H2[j-(k+N1),:dPj+1] = Pj

    K = pl.dot(pl.inv(pl.dot(G.T, G) + rho*pl.eye(Nu+1, Nu+1)), G.T)

    KH1 = pl.dot(K, H1)

    KH2 = pl.dot(K, H2)

    R1 = pl.concatenate(([1], KH1[0,:]))

    dR1 = len(R1)-1

    Sc = KH2[0,:]

    dSc = len(Sc)-1;

    Tc = K[0,:]

    dTc = len(Tc)-1;

    return K, KH1, KH2, Tc, dTc, Sc, dSc, R1, dR1