function reward = myBlockRewardFcn(x,t)
% MYBLOCKREWARDFCN generates rewards from Simulink block specifications.
%
% x : Input of LevelCheckBlock/Level Check
% t : Simulation time (s)

% Reinforcement Learning Toolbox
% 27-May-2021 16:45:27

%#codegen

%% Specifications from LevelCheckBlock/Level Check
Block1_InitialValue = 1;
Block1_FinalValue = 2;
Block1_StepTime = 0;
Block1_StepRange = Block1_FinalValue - Block1_InitialValue;
Block1_MinRise = Block1_InitialValue + Block1_StepRange * 80/100;
Block1_MaxSettling = Block1_InitialValue + Block1_StepRange * (1+2/100);
Block1_MinSettling = Block1_InitialValue + Block1_StepRange * (1-2/100);
Block1_MaxOvershoot = Block1_InitialValue + Block1_StepRange * (1+10/100);
Block1_MinUndershoot = Block1_InitialValue - Block1_StepRange * 5/100;

if t >= Block1_StepTime
    if Block1_InitialValue <= Block1_FinalValue
        Block1_UpperBoundTimes = [0,5; 5,max(5+1,t+1)];
        Block1_UpperBoundAmplitudes = [Block1_MaxOvershoot,Block1_MaxOvershoot; Block1_MaxSettling,Block1_MaxSettling];
        Block1_LowerBoundTimes = [0,2; 2,5; 5,max(5+1,t+1)];
        Block1_LowerBoundAmplitudes = [Block1_MinUndershoot,Block1_MinUndershoot; Block1_MinRise,Block1_MinRise; Block1_MinSettling,Block1_MinSettling];
    else
        Block1_UpperBoundTimes = [0,2; 2,5; 5,max(5+1,t+1)];
        Block1_UpperBoundAmplitudes = [Block1_MinUndershoot,Block1_MinUndershoot; Block1_MinRise,Block1_MinRise; Block1_MinSettling,Block1_MinSettling];
        Block1_LowerBoundTimes = [0,5; 5,max(5+1,t+1)];
        Block1_LowerBoundAmplitudes = [Block1_MaxOvershoot,Block1_MaxOvershoot; Block1_MaxSettling,Block1_MaxSettling];
    end

    Block1_xmax = zeros(1,size(Block1_UpperBoundTimes,1));
    for idx = 1:numel(Block1_xmax)
        tseg = Block1_UpperBoundTimes(idx,:);
        xseg = Block1_UpperBoundAmplitudes(idx,:);
        Block1_xmax(idx) = interp1(tseg,xseg,t,'linear',NaN);
    end
    if all(isnan(Block1_xmax))
        Block1_xmax = Inf;
    else
        Block1_xmax = max(Block1_xmax,[],'omitnan');
    end

    Block1_xmin = zeros(1,size(Block1_LowerBoundTimes,1));
    for idx = 1:numel(Block1_xmin)
        tseg = Block1_LowerBoundTimes(idx,:);
        xseg = Block1_LowerBoundAmplitudes(idx,:);
        Block1_xmin(idx) = interp1(tseg,xseg,t,'linear',NaN);
    end
    if all(isnan(Block1_xmin))
        Block1_xmin = -Inf;
    else
        Block1_xmin = max(Block1_xmin,[],'omitnan');
    end
else
    Block1_xmin = -Inf;
    Block1_xmax = Inf;
end




%% Penalty function weight (specify nonnegative)
Weight = 1;

%% Compute penalty
% Penalty is computed for violation of linear bound constraints.
%
% To compute exterior bound penalty, use the exteriorPenalty function and
% specify the penalty method as 'step' or 'quadratic'.
%
% Alternaltively, use the hyperbolicPenalty or barrierPenalty function for
% computing hyperbolic and barrier penalties.
%
% For more information, see help for these functions.
Penalty = sum(exteriorPenalty(x,Block1_xmin,Block1_xmax,'step'));

%% Compute reward
reward = -Weight * Penalty;
end