#include <mission/devices/MgmLIS3MDLHandler.h>
#include "fsfw/datapool/PoolReadGuard.h"
#if OBSW_VERBOSE_LEVEL >= 1
#include "fsfw/globalfunctions/PeriodicOperationDivider.h"
#endif

MGMHandlerLIS3MDL::MGMHandlerLIS3MDL(object_id_t objectId, object_id_t deviceCommunication,
        CookieIF* comCookie, uint8_t switchId, uint32_t transitionDelay):
        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
        dataset(this) {
#if OBSW_VERBOSE_LEVEL >= 1
    debugDivider = new PeriodicOperationDivider(5);
#endif
    /* Set to default values right away. */
    registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
    registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
    registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
    registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
    registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;

}

MGMHandlerLIS3MDL::~MGMHandlerLIS3MDL() {
}


void MGMHandlerLIS3MDL::doStartUp() {
    switch (internalState) {
    case(InternalState::STATE_NONE): {
        internalState = InternalState::STATE_FIRST_CONTACT;
        break;
    }
    case(InternalState::STATE_FIRST_CONTACT): {
        /* Will be set by checking device ID (WHO AM I register) */
        if(commandExecuted) {
            commandExecuted = false;
            internalState = InternalState::STATE_SETUP;
        }
        break;
    }
    case(InternalState::STATE_SETUP): {
        internalState = InternalState::STATE_CHECK_REGISTERS;
        break;
    }
    case(InternalState::STATE_CHECK_REGISTERS): {
        /* Set up cached registers which will be used to configure the MGM. */
        if(commandExecuted) {
            commandExecuted = false;
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
            setMode(MODE_NORMAL);
#else
            setMode(_MODE_TO_ON);
#endif
        }
        break;
    }
    default:
        break;
    }

}

void MGMHandlerLIS3MDL::doShutDown() {
    setMode(_MODE_POWER_DOWN);
}

ReturnValue_t MGMHandlerLIS3MDL::buildTransitionDeviceCommand(
        DeviceCommandId_t *id) {
    switch (internalState) {
    case(InternalState::STATE_NONE):
    case(InternalState::STATE_NORMAL): {
        return HasReturnvaluesIF::RETURN_OK;
    }
    case(InternalState::STATE_FIRST_CONTACT): {
        *id = MGMLIS3MDL::IDENTIFY_DEVICE;
        break;
    }
    case(InternalState::STATE_SETUP): {
        *id = MGMLIS3MDL::SETUP_MGM;
        break;
    }
    case(InternalState::STATE_CHECK_REGISTERS): {
        *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
        break;
    }
    default: {
        /* might be a configuration error. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::warning << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
                std::endl;
#else
        sif::printWarning("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
#endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
        return HasReturnvaluesIF::RETURN_OK;
    }

    }
    return buildCommandFromCommand(*id, NULL, 0);
}

uint8_t MGMHandlerLIS3MDL::readCommand(uint8_t command, bool continuousCom) {
    command |= (1 << MGMLIS3MDL::RW_BIT);
    if (continuousCom == true) {
        command |= (1 << MGMLIS3MDL::MS_BIT);
    }
    return command;
}

uint8_t MGMHandlerLIS3MDL::writeCommand(uint8_t command, bool continuousCom) {
    command &= ~(1 << MGMLIS3MDL::RW_BIT);
    if (continuousCom == true) {
        command |= (1 << MGMLIS3MDL::MS_BIT);
    }
    return command;
}

void MGMHandlerLIS3MDL::setupMgm() {

    registers[0] = MGMLIS3MDL::CTRL_REG1_DEFAULT;
    registers[1] = MGMLIS3MDL::CTRL_REG2_DEFAULT;
    registers[2] = MGMLIS3MDL::CTRL_REG3_DEFAULT;
    registers[3] = MGMLIS3MDL::CTRL_REG4_DEFAULT;
    registers[4] = MGMLIS3MDL::CTRL_REG5_DEFAULT;

    prepareCtrlRegisterWrite();
}

ReturnValue_t MGMHandlerLIS3MDL::buildNormalDeviceCommand(
        DeviceCommandId_t *id) {
    // Data/config register will be read in an alternating manner.
    if(communicationStep == CommunicationStep::DATA) {
        *id = MGMLIS3MDL::READ_CONFIG_AND_DATA;
        communicationStep = CommunicationStep::TEMPERATURE;
        return buildCommandFromCommand(*id, NULL, 0);
    }
    else {
        *id = MGMLIS3MDL::READ_TEMPERATURE;
        communicationStep = CommunicationStep::DATA;
        return buildCommandFromCommand(*id, NULL, 0);
    }

}

ReturnValue_t MGMHandlerLIS3MDL::buildCommandFromCommand(
        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
        size_t commandDataLen) {
    switch(deviceCommand) {
    case(MGMLIS3MDL::READ_CONFIG_AND_DATA): {
        std::memset(commandBuffer, 0, sizeof(commandBuffer));
        commandBuffer[0] = readCommand(MGMLIS3MDL::CTRL_REG1, true);

        rawPacket = commandBuffer;
        rawPacketLen = MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1;
        return RETURN_OK;
    }
    case(MGMLIS3MDL::READ_TEMPERATURE): {
        std::memset(commandBuffer, 0, 3);
        commandBuffer[0] = readCommand(MGMLIS3MDL::TEMP_LOWBYTE, true);

        rawPacket = commandBuffer;
        rawPacketLen = 3;
        return RETURN_OK;
    }
    case(MGMLIS3MDL::IDENTIFY_DEVICE): {
        return identifyDevice();
    }
    case(MGMLIS3MDL::TEMP_SENSOR_ENABLE): {
        return enableTemperatureSensor(commandData, commandDataLen);
    }
    case(MGMLIS3MDL::SETUP_MGM): {
        setupMgm();
        return HasReturnvaluesIF::RETURN_OK;
    }
    case(MGMLIS3MDL::ACCURACY_OP_MODE_SET): {
        return setOperatingMode(commandData, commandDataLen);
    }
    default:
        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
    }
    return HasReturnvaluesIF::RETURN_FAILED;
}

ReturnValue_t MGMHandlerLIS3MDL::identifyDevice() {
    uint32_t size = 2;
    commandBuffer[0] = readCommand(MGMLIS3MDL::IDENTIFY_DEVICE_REG_ADDR);
    commandBuffer[1] = 0x00;

    rawPacket = commandBuffer;
    rawPacketLen = size;

    return RETURN_OK;
}

ReturnValue_t MGMHandlerLIS3MDL::scanForReply(const uint8_t *start,
        size_t len, DeviceCommandId_t *foundId, size_t *foundLen) {
    *foundLen = len;
    if (len == MGMLIS3MDL::NR_OF_DATA_AND_CFG_REGISTERS + 1) {
        *foundLen = len;
        *foundId = MGMLIS3MDL::READ_CONFIG_AND_DATA;
        // Check validity by checking config registers
        if (start[1] != registers[0] or start[2] != registers[1] or
                start[3] != registers[2] or start[4] != registers[3] or
                start[5] != registers[4]) {
#if OBSW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
#else
            sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
#endif
#endif
            return DeviceHandlerIF::INVALID_DATA;
        }
        if(mode == _MODE_START_UP) {
            commandExecuted = true;
        }

    }
    else if(len == MGMLIS3MDL::TEMPERATURE_REPLY_LEN) {
        *foundLen = len;
        *foundId = MGMLIS3MDL::READ_TEMPERATURE;
    }
    else if (len == MGMLIS3MDL::SETUP_REPLY_LEN) {
        *foundLen = len;
        *foundId = MGMLIS3MDL::SETUP_MGM;
    }
    else if (len == SINGLE_COMMAND_ANSWER_LEN) {
        *foundLen = len;
        *foundId = getPendingCommand();
        if(*foundId == MGMLIS3MDL::IDENTIFY_DEVICE) {
            if(start[1] != MGMLIS3MDL::DEVICE_ID) {
#if OBSW_VERBOSE_LEVEL >= 1
#if FSFW_CPP_OSTREAM_ENABLED == 1
                sif::warning << "MGMHandlerLIS3MDL::scanForReply: Invalid registers!" << std::endl;
#else
                sif::printWarning("MGMHandlerLIS3MDL::scanForReply: Invalid registers!\n");
#endif
#endif
                return DeviceHandlerIF::INVALID_DATA;
            }

            if(mode == _MODE_START_UP) {
                commandExecuted = true;
            }
        }
    }
    else {
        return DeviceHandlerIF::INVALID_DATA;
    }

    /* Data with SPI Interface always has this answer */
    if (start[0] == 0b11111111) {
        return RETURN_OK;
    }
    else {
        return DeviceHandlerIF::INVALID_DATA;
    }

}
ReturnValue_t MGMHandlerLIS3MDL::interpretDeviceReply(DeviceCommandId_t id,
        const uint8_t *packet) {

    switch (id) {
    case MGMLIS3MDL::IDENTIFY_DEVICE: {
        break;
    }
    case MGMLIS3MDL::SETUP_MGM: {
        break;
    }
    case MGMLIS3MDL::READ_CONFIG_AND_DATA: {
        // TODO: Store configuration in new local datasets.
        float sensitivityFactor = getSensitivityFactor(getSensitivity(registers[2]));

        int16_t mgmMeasurementRawX = packet[MGMLIS3MDL::X_HIGHBYTE_IDX] << 8
                | packet[MGMLIS3MDL::X_LOWBYTE_IDX] ;
        int16_t mgmMeasurementRawY = packet[MGMLIS3MDL::Y_HIGHBYTE_IDX] << 8
                | packet[MGMLIS3MDL::Y_LOWBYTE_IDX] ;
        int16_t mgmMeasurementRawZ = packet[MGMLIS3MDL::Z_HIGHBYTE_IDX] << 8
                | packet[MGMLIS3MDL::Z_LOWBYTE_IDX] ;

        /* Target value in microtesla */
        float mgmX = static_cast<float>(mgmMeasurementRawX) * sensitivityFactor
                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
        float mgmY = static_cast<float>(mgmMeasurementRawY) * sensitivityFactor
                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;
        float mgmZ = static_cast<float>(mgmMeasurementRawZ) * sensitivityFactor
                *  MGMLIS3MDL::GAUSS_TO_MICROTESLA_FACTOR;

#if OBSW_VERBOSE_LEVEL >= 1
        if(debugDivider->checkAndIncrement()) {
            /* Set terminal to utf-8 if there is an issue with micro printout. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::info << "MGMHandlerLIS3: Magnetic field strength in"
                    " microtesla:" << std::endl;
            sif::info << "X: " << mgmX << " uT" << std::endl;
            sif::info << "Y: " << mgmY << " uT" << std::endl;
            sif::info << "Z: " << mgmZ << " uT" << std::endl;
#else
            sif::printInfo("MGMHandlerLIS3: Magnetic field strength in microtesla:\n");
            sif::printInfo("X: %f uT\n", mgmX);
            sif::printInfo("Y: %f uT\n", mgmY);
            sif::printInfo("Z: %f uT\n", mgmZ);
#endif /* FSFW_CPP_OSTREAM_ENABLED == 0 */
        }
#endif /* OBSW_VERBOSE_LEVEL >= 1 */
        PoolReadGuard readHelper(&dataset);
        if(readHelper.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
            dataset.fieldStrengthX = mgmX;
            dataset.fieldStrengthY = mgmY;
            dataset.fieldStrengthZ = mgmZ;
            dataset.setValidity(true, true);
        }
        break;
    }

    case MGMLIS3MDL::READ_TEMPERATURE: {
        int16_t tempValueRaw = packet[2] << 8 | packet[1];
        float tempValue = 25.0 + ((static_cast<float>(tempValueRaw)) / 8.0);
#if OBSW_VERBOSE_LEVEL >= 1
        if(debugDivider->check()) {
            /* Set terminal to utf-8 if there is an issue with micro printout. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::info << "MGMHandlerLIS3: Temperature: " << tempValue << " C" <<
                    std::endl;
#else
            sif::printInfo("MGMHandlerLIS3: Temperature: %f C\n");
#endif
        }
#endif
        ReturnValue_t result = dataset.read();
        if(result == HasReturnvaluesIF::RETURN_OK) {
            dataset.temperature = tempValue;
            dataset.commit();
        }
        break;
    }

    default: {
        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
    }

    }
    return RETURN_OK;
}

MGMLIS3MDL::Sensitivies MGMHandlerLIS3MDL::getSensitivity(uint8_t ctrlRegister2) {
    bool fs0Set = ctrlRegister2 & (1 << MGMLIS3MDL::FSO);  // Checks if FS0 bit is set
    bool fs1Set = ctrlRegister2 & (1 << MGMLIS3MDL::FS1);  // Checks if FS1 bit is set

    if (fs0Set && fs1Set)
        return MGMLIS3MDL::Sensitivies::GAUSS_16;
    else if (!fs0Set && fs1Set)
        return MGMLIS3MDL::Sensitivies::GAUSS_12;
    else if (fs0Set && !fs1Set)
        return MGMLIS3MDL::Sensitivies::GAUSS_8;
    else
        return MGMLIS3MDL::Sensitivies::GAUSS_4;
}

float MGMHandlerLIS3MDL::getSensitivityFactor(MGMLIS3MDL::Sensitivies sens) {
    switch(sens) {
    case(MGMLIS3MDL::GAUSS_4): {
        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
    }
    case(MGMLIS3MDL::GAUSS_8): {
        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_8_SENS;
    }
    case(MGMLIS3MDL::GAUSS_12): {
        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_12_SENS;
    }
    case(MGMLIS3MDL::GAUSS_16): {
        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_16_SENS;
    }
    default: {
        // Should never happen
        return MGMLIS3MDL::FIELD_LSB_PER_GAUSS_4_SENS;
    }
    }
}


ReturnValue_t MGMHandlerLIS3MDL::enableTemperatureSensor(
        const uint8_t *commandData, size_t commandDataLen) {
    triggerEvent(CHANGE_OF_SETUP_PARAMETER);
    uint32_t size = 2;
    commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1);
    if (commandDataLen > 1) {
        return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
    }
    switch (*commandData) {
    case (MGMLIS3MDL::ON): {
        commandBuffer[1] = registers[0] | (1 << 7);
        break;
    }
    case (MGMLIS3MDL::OFF): {
        commandBuffer[1] = registers[0] & ~(1 << 7);
        break;
    }
    default:
        return INVALID_COMMAND_PARAMETER;
    }
    registers[0] = commandBuffer[1];

    rawPacket = commandBuffer;
    rawPacketLen = size;

    return RETURN_OK;
}

ReturnValue_t MGMHandlerLIS3MDL::setOperatingMode(const uint8_t *commandData,
        size_t commandDataLen) {
    triggerEvent(CHANGE_OF_SETUP_PARAMETER);
    if (commandDataLen != 1) {
        return INVALID_NUMBER_OR_LENGTH_OF_PARAMETERS;
    }

    switch (commandData[0]) {
    case MGMLIS3MDL::LOW:
        registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) & (~(1 << MGMLIS3MDL::OM0));
        registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) & (~(1 << MGMLIS3MDL::OMZ0));
        break;
    case MGMLIS3MDL::MEDIUM:
        registers[0] = (registers[0] & (~(1 << MGMLIS3MDL::OM1))) | (1 << MGMLIS3MDL::OM0);
        registers[3] = (registers[3] & (~(1 << MGMLIS3MDL::OMZ1))) | (1 << MGMLIS3MDL::OMZ0);
        break;

    case MGMLIS3MDL::HIGH:
        registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) & (~(1 << MGMLIS3MDL::OM0));
        registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) & (~(1 << MGMLIS3MDL::OMZ0));
        break;

    case MGMLIS3MDL::ULTRA:
        registers[0] = (registers[0] | (1 << MGMLIS3MDL::OM1)) | (1 << MGMLIS3MDL::OM0);
        registers[3] = (registers[3] | (1 << MGMLIS3MDL::OMZ1)) | (1 << MGMLIS3MDL::OMZ0);
        break;
    default:
        break;
    }

    return prepareCtrlRegisterWrite();
}

void MGMHandlerLIS3MDL::fillCommandAndReplyMap() {
    /*
     * Regarding ArduinoBoard:
     * Actually SPI answers directly, but as commanding ArduinoBoard the
     * communication could be delayed
     * SPI always has to be triggered, so there could be no periodic answer of
     * the device, the device has to asked with a command, so periodic is zero.
     *
     * We dont read single registers, we just expect special
     * reply from he Readall_MGM
     */
    insertInCommandAndReplyMap(MGMLIS3MDL::READ_CONFIG_AND_DATA, 1, &dataset);
    insertInCommandAndReplyMap(MGMLIS3MDL::READ_TEMPERATURE, 1);
    insertInCommandAndReplyMap(MGMLIS3MDL::SETUP_MGM, 1);
    insertInCommandAndReplyMap(MGMLIS3MDL::IDENTIFY_DEVICE, 1);
    insertInCommandAndReplyMap(MGMLIS3MDL::TEMP_SENSOR_ENABLE, 1);
    insertInCommandAndReplyMap(MGMLIS3MDL::ACCURACY_OP_MODE_SET, 1);
}

ReturnValue_t MGMHandlerLIS3MDL::prepareCtrlRegisterWrite() {
    commandBuffer[0] = writeCommand(MGMLIS3MDL::CTRL_REG1, true);

    for (size_t i = 0; i < MGMLIS3MDL::NR_OF_CTRL_REGISTERS; i++) {
        commandBuffer[i + 1] = registers[i];
    }
    rawPacket = commandBuffer;
    rawPacketLen = MGMLIS3MDL::NR_OF_CTRL_REGISTERS + 1;

    /* We dont have to check if this is working because we just did it */
    return RETURN_OK;
}

void MGMHandlerLIS3MDL::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {

}

uint32_t MGMHandlerLIS3MDL::getTransitionDelayMs(Mode_t from, Mode_t to) {
    return 20000;
}

void MGMHandlerLIS3MDL::modeChanged(void) {
    internalState = InternalState::STATE_NONE;
}

ReturnValue_t MGMHandlerLIS3MDL::initializeLocalDataPool(
        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_X,
            new PoolEntry<float>({0.0}));
    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Y,
            new PoolEntry<float>({0.0}));
    localDataPoolMap.emplace(MGMLIS3MDL::FIELD_STRENGTH_Z,
            new PoolEntry<float>({0.0}));
    localDataPoolMap.emplace(MGMLIS3MDL::TEMPERATURE_CELCIUS,
            new PoolEntry<float>({0.0}));
    return HasReturnvaluesIF::RETURN_OK;
}