#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/timevalOperations.h>
#include <fsfw/ipc/CommandMessageCleaner.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfw/timemanager/CCSDSTime.h>

#include <catch2/catch_approx.hpp>
#include <catch2/catch_test_macros.hpp>
#include <catch2/matchers/catch_matchers_floating_point.hpp>
#include <iostream>

#include "CatchDefinitions.h"
#include "mock/HkReceiverMock.h"
#include "mock/TestPoolOwner.h"

using namespace lpool;

TEST_CASE("Pool Owner and Periodic HK", "[datapool]") {
  constexpr MessageQueueId_t DEFAULT_DEST_ID = 1;
  constexpr MessageQueueId_t HK_DEST = DEFAULT_DEST_ID;
  auto hkReceiver = HkReceiverMock(HK_DEST);
  auto queue = MessageQueueMock(3, HK_DEST);
  CommandMessage msg;
  TestPoolOwner poolOwner(queue, HK_DEST, objects::TEST_LOCAL_POOL_OWNER_BASE);

  REQUIRE(poolOwner.initialize() == returnvalue::OK);

  MessageQueueMock& poolOwnerMock = poolOwner.getMockQueueHandle();
  CommandMessage messageSent;

  // TODO: Fix
  SECTION("Basic Test") {
    {
      // For code coverage, should not crash
      hk::PeriodicHelper manager(nullptr, nullptr);
    }
    auto owner = poolOwner.hkHelper.getOwner();
    REQUIRE(owner != nullptr);
    CHECK(owner->getObjectId() == objects::TEST_LOCAL_POOL_OWNER_BASE);

    // Clear message to avoid memory leak, our mock won't do it for us (yet)
    CommandMessageCleaner::clearCommandMessage(&messageSent);
  }

  SECTION("Periodic HK And Messaging") {
    // Now we subcribe for a HK periodic generation. Even when it's difficult to simulate
    // the temporal behaviour correctly the HK manager should generate a HK packet
    // immediately and the periodic helper depends on HK op function calls anyway instead of
    // using the clock, so we could also just call performHkOperation multiple times
    REQUIRE(poolOwner.enablePeriodicHk(testSid0, 50) == returnvalue::OK);
    REQUIRE(poolOwner.hkHelper.performHkOperation() == returnvalue::OK);
    // Now HK packet should be sent as message immediately.
    REQUIRE(poolOwnerMock.wasMessageSent());
    CHECK(poolOwnerMock.numberOfSentMessages() == 1);
    CHECK(poolOwnerMock.getNextSentMessageToDefaultDest(msg) == returnvalue::OK);
    CHECK(msg.getCommand() == HousekeepingMessage::HK_REPORT);
    auto structureId = HousekeepingMessage::getStructureId(&msg);
    CHECK(structureId == testSid0);

    CHECK(poolOwnerMock.clearLastSentMessage() == returnvalue::OK);
    REQUIRE(poolOwner.hkHelper.performHkOperation() == returnvalue::OK);
    // No packet should be generated now.
    REQUIRE(!poolOwnerMock.wasMessageSent());
    CHECK(poolOwnerMock.numberOfSentMessages() == 0);

    TaskFactory::delayTask(50);

    // Should be generated again now.
    REQUIRE(poolOwner.hkHelper.performHkOperation() == returnvalue::OK);
    // No packet should be generated now.
    REQUIRE(poolOwnerMock.wasMessageSent());
    CHECK(poolOwnerMock.numberOfSentMessages() == 1);
    CHECK(poolOwnerMock.getNextSentMessageToDefaultDest(msg) == returnvalue::OK);
    CHECK(msg.getCommand() == HousekeepingMessage::HK_REPORT);
    structureId = HousekeepingMessage::getStructureId(&msg);
    CHECK(structureId == testSid0);
  }

  SECTION("Manual generation with API") {
    // We can always generate a packet ourselves.
    CHECK(poolOwner.hkHelper.generateHousekeepingPacket(lpool::testSid0) == returnvalue::OK);
    REQUIRE(poolOwnerMock.wasMessageSent());
    CHECK(poolOwnerMock.numberOfSentMessages() == 1);

    CHECK(poolOwnerMock.getNextSentMessageToDefaultDest(msg) == returnvalue::OK);
    auto structureId = HousekeepingMessage::getStructureId(&msg);
    CHECK(structureId == testSid0);
    CHECK(poolOwnerMock.clearLastSentMessage() == returnvalue::OK);
  }

  SECTION("Generation with Message") {
    HousekeepingMessage::setOneShotReportCommand(&msg, lpool::testSid0);
    CHECK(poolOwner.hkHelper.handleHousekeepingMessage(&msg) == returnvalue::OK);
    REQUIRE(poolOwnerMock.wasMessageSent());
    REQUIRE(poolOwnerMock.numberOfSentMessages() == 1);
    CHECK(poolOwnerMock.getNextSentMessageToDefaultDest(msg) == returnvalue::OK);
    auto structureId = HousekeepingMessage::getStructureId(&msg);
    CHECK(structureId == testSid0);
    poolOwnerMock.clearMessages();
  }

  SECTION("Toggle generation with message") {
    HousekeepingMessage::setToggleReportingCommand(&msg, lpool::testSid0, false);
    CHECK(poolOwner.hkHelper.handleHousekeepingMessage(&msg) == returnvalue::OK);
    REQUIRE(poolOwnerMock.wasMessageSent());
    CHECK(poolOwnerMock.numberOfSentMessages() == 1);
    CHECK(poolOwnerMock.getNextSentMessageToDefaultDest(msg) == returnvalue::OK);
    CHECK(msg.getCommand() == HousekeepingMessage::HK_REQUEST_SUCCESS);
    auto structureId = HousekeepingMessage::getStructureId(&msg);
    CHECK(structureId == testSid0);
    CHECK(poolOwnerMock.clearLastSentMessage() == returnvalue::OK);
    auto optSetSpec = poolOwner.hkHelper.getSetSpecification(testSid0);
    REQUIRE(optSetSpec.has_value());
    REQUIRE(!optSetSpec.value().get().collectionEnabled());

    HousekeepingMessage::setToggleReportingCommand(&msg, lpool::testSid0, true);
    CHECK(poolOwner.hkHelper.handleHousekeepingMessage(&msg) == returnvalue::OK);
    REQUIRE(poolOwnerMock.wasMessageSent());
    CHECK(poolOwnerMock.getNextSentMessageToDefaultDest(msg) == returnvalue::OK);
    CHECK(msg.getCommand() == HousekeepingMessage::HK_REQUEST_SUCCESS);
    structureId = HousekeepingMessage::getStructureId(&msg);
    CHECK(structureId == testSid0);
    CHECK(poolOwnerMock.clearLastSentMessage() == returnvalue::OK);
    REQUIRE(optSetSpec.has_value());
    REQUIRE(optSetSpec.value().get().collectionEnabled());
  }

  SECTION("Modify collection interval with message") {
    HousekeepingMessage::setCollectionIntervalModificationCommand(&msg, lpool::testSid0, 400);
    CHECK(poolOwner.hkHelper.handleHousekeepingMessage(&msg) == returnvalue::OK);
    REQUIRE(poolOwnerMock.wasMessageSent());
    REQUIRE(poolOwnerMock.numberOfSentMessages() == 1);
    CHECK(poolOwnerMock.getNextSentMessageToDefaultDest(msg) == returnvalue::OK);
    CHECK(msg.getCommand() == HousekeepingMessage::HK_REQUEST_SUCCESS);
    auto structureId = HousekeepingMessage::getStructureId(&msg);
    CHECK(structureId == testSid0);
    auto optSetSpec = poolOwner.hkHelper.getSetSpecification(testSid0);
    REQUIRE(optSetSpec.has_value());
    CHECK(optSetSpec.value().get().getCollectionFrequency() == 400);

    CHECK(poolOwnerMock.clearLastSentMessage() == returnvalue::OK);
  }

  SECTION("Structure reporting command") {
    HousekeepingMessage::setStructureReportingCommand(&msg, lpool::testSid0);
    REQUIRE(poolOwner.hkHelper.performHkOperation() == returnvalue::OK);
    CHECK(poolOwner.hkHelper.handleHousekeepingMessage(&msg) == returnvalue::OK);
    // Now HK packet should be sent as message.
    REQUIRE(poolOwnerMock.wasMessageSent());
    REQUIRE(poolOwnerMock.numberOfSentMessages() == 1);
    poolOwnerMock.clearMessages();
  }

  // we need to reset the subscription list because the pool owner
  // is a global object.
  CHECK(poolOwner.reset() == returnvalue::OK);
  poolOwnerMock.clearMessages(true);
}