#!/usr/bin/python

# 9.8

import os, sys

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

import scipy as sp

from polyfuncs import polmul

from polyfuncs import polsplit2

from zpowk import zpowk

from xdync import xdync

def pp_basic(B, A, k, phi):

    # Setting up and solving Aryabhatta identity

    Ag, Ab = polsplit2(A)

    dAb = len(Ab) - 1

    Bg, Bb = polsplit2(B)

    dBb = len(Bb) - 1

    zk, dzk = zpowk(k)

    N, dN = polmul(Bb, dBb, zk, dzk)

    dphi = len(phi)-1

    S1, dS1, R1, dR1 = xdync(N, dN, Ab, dAb, phi, dphi)[:4]

    # Determination of control law

    R1 = sp.squeeze(R1)

    S1 = sp.squeeze(S1)

    Rc = sp.convolve(Bg, R1)

    Sc = sp.convolve(Ag, S1)

    Tc = Ag

    gamm = phi.sum()/Bb.sum()

    return Rc, Sc, Tc, gamm

if __name__ == "__main__":

    Ts = 1

    B = 0.63

    A = sp.array([1, -0.37])

    k = 1

    if k<=0:

        k = 1

    zk, dzk = zpowk(k)

    phi = sp.array([1, -0.5])

    print pp_basic(B, A, k, phi)