#include "ThermalController.h"

#include <fsfw/datapool/PoolReadGuard.h>
#include <objects/systemObjectList.h>

ThermalController::ThermalController(object_id_t objectId, object_id_t parentId)
    : ExtendedControllerBase(objectId, parentId),
      sensorTemperatures(this),
      componentTemperatures(this),
      max31865Set0(objects::RTD_0_IC3_PLOC_HEATSPREADER),
      max31865Set1(objects::RTD_1_IC4_PLOC_MISSIONBOARD),
      max31865Set2(objects::RTD_2_IC5_4K_CAMERA),
      max31865Set3(objects::RTD_3_IC6_DAC_HEATSPREADER),
      max31865Set4(objects::RTD_4_IC7_STARTRACKER),
      max31865Set5(objects::RTD_5_IC8_RW1_MX_MY),
      max31865Set6(objects::RTD_6_IC9_DRO),
      max31865Set7(objects::RTD_7_IC10_SCEX),
      max31865Set8(objects::RTD_8_IC11_X8),
      max31865Set9(objects::RTD_9_IC12_HPA),
      max31865Set10(objects::RTD_10_IC13_PL_TX),
      max31865Set11(objects::RTD_11_IC14_MPA),
      max31865Set12(objects::RTD_12_IC15_ACU),
      max31865Set13(objects::RTD_13_IC16_PLPCDU_HEATSPREADER),
      max31865Set14(objects::RTD_14_IC17_TCS_BOARD),
      max31865Set15(objects::RTD_15_IC18_IMTQ) {}

ReturnValue_t ThermalController::initialize() {
  auto result = ExtendedControllerBase::initialize();

  return result;
}

ReturnValue_t ThermalController::handleCommandMessage(CommandMessage* message) {
  return RETURN_FAILED;
}

void ThermalController::performControlOperation() {
  ReturnValue_t result = sensorTemperatures.read();
  if (result != RETURN_OK) {
    return;
  }

  copySensors();

  result = componentTemperatures.read();
  if (result != RETURN_OK) {
    return;
  }

  /*sensorTemperatures.sensor_ploc_heatspreader =
      ((int)sensorTemperatures.sensor_ploc_heatspreader.value + 1) % 100;
  sensorTemperatures.sensor_ploc_missionboard =
      ((int)sensorTemperatures.sensor_ploc_missionboard.value + 2) % 100;
  sensorTemperatures.sensor_4k_camera = ((int)sensorTemperatures.sensor_4k_camera.value + 3) % 100;
  sensorTemperatures.sensor_dac_heatspreader =
      ((int)sensorTemperatures.sensor_dac_heatspreader.value + 4) % 100;
  sensorTemperatures.sensor_startracker =
      ((int)sensorTemperatures.sensor_startracker.value + 10) % 100;
  sensorTemperatures.sensor_rw1 = ((int)sensorTemperatures.sensor_rw1.value + 10) % 100;
  sensorTemperatures.sensor_dro = ((int)sensorTemperatures.sensor_dro.value + 10) % 100;
  sensorTemperatures.sensor_scex = ((int)sensorTemperatures.sensor_scex.value + 10) % 100;
  sensorTemperatures.sensor_x8 = ((int)sensorTemperatures.sensor_x8.value + 10) % 100;
  sensorTemperatures.sensor_hpa = ((int)sensorTemperatures.sensor_hpa.value + 10) % 100;
  sensorTemperatures.sensor_tx_modul = ((int)sensorTemperatures.sensor_tx_modul.value + 10) % 100;
  sensorTemperatures.sensor_mpa = ((int)sensorTemperatures.sensor_mpa.value + 10) % 100;
  sensorTemperatures.sensor_acu = ((int)sensorTemperatures.sensor_acu.value + 10) % 100;
  sensorTemperatures.sensor_plpcdu_heatspreader =
      ((int)sensorTemperatures.sensor_plpcdu_heatspreader.value + 10) % 100;
  sensorTemperatures.sensor_tcs_board = ((int)sensorTemperatures.sensor_tcs_board.value + 10) % 100;
  sensorTemperatures.sensor_magnettorquer =
      ((int)sensorTemperatures.sensor_magnettorquer.value + 10) % 100;*/

  sensorTemperatures.commit();
  componentTemperatures.commit();
}

ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                         LocalDataPoolManager& poolManager) {
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLOC_HEATSPREADER,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLOC_MISSIONBOARD,
                           new PoolEntry<float>({1.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_4K_CAMERA,
                           new PoolEntry<float>({2.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_DAC_HEATSPREADER,
                           new PoolEntry<float>({3.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_STARTRACKER,
                           new PoolEntry<float>({4.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_RW1, new PoolEntry<float>({5.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_DRO, new PoolEntry<float>({6.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_SCEX, new PoolEntry<float>({7.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_X8, new PoolEntry<float>({8.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_HPA, new PoolEntry<float>({9.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TX_MODUL,
                           new PoolEntry<float>({10.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_MPA, new PoolEntry<float>({11.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_ACU, new PoolEntry<float>({12.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLPCDU_HEATSPREADER,
                           new PoolEntry<float>({13.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TCS_BOARD,
                           new PoolEntry<float>({14.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_MAGNETTORQUER,
                           new PoolEntry<float>({15.0}));

  localDataPoolMap.emplace(thermalControllerDefinitions::COMPONENT_RW, new PoolEntry<float>({0.0}));

  poolManager.subscribeForPeriodicPacket(sensorTemperatures.getSid(), true, 1.0, false);

  return RETURN_OK;
}

LocalPoolDataSetBase* ThermalController::getDataSetHandle(sid_t sid) {
  switch (sid.ownerSetId) {
    case thermalControllerDefinitions::SENSOR_TEMPERATURES:
      return &sensorTemperatures;
    case thermalControllerDefinitions::COMPONENT_TEMPERATURES:
      return &componentTemperatures;
    default:
      return nullptr;
  }
}

ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode,
                                                  uint32_t* msToReachTheMode) {
  if (submode != SUBMODE_NONE) {
    return INVALID_SUBMODE;
  }
  if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
    return INVALID_MODE;
  }
  return RETURN_OK;
}

void ThermalController::copySensors() {

  PoolReadGuard pg0(&max31865Set0);
  if (pg0.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
    sensorTemperatures.sensor_ploc_heatspreader.value = max31865Set0.temperatureCelcius.value;
    sensorTemperatures.sensor_ploc_heatspreader.setValid(max31865Set0.temperatureCelcius.isValid());
  }
  
  PoolReadGuard pg1(&max31865Set1);
  if (pg1.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
    sensorTemperatures.sensor_ploc_missionboard.value = max31865Set1.temperatureCelcius.value;
    sensorTemperatures.sensor_ploc_missionboard.setValid(max31865Set1.temperatureCelcius.isValid());
  }

  PoolReadGuard pg2(&max31865Set2);
  if (pg2.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
    sensorTemperatures.sensor_4k_camera.value = max31865Set2.temperatureCelcius.value;
    sensorTemperatures.sensor_4k_camera.setValid(max31865Set2.temperatureCelcius.isValid());
  }

  PoolReadGuard pg3(&max31865Set3);
  if (pg3.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
    sensorTemperatures.sensor_dac_heatspreader.value = max31865Set3.temperatureCelcius.value;
    sensorTemperatures.sensor_dac_heatspreader.setValid(max31865Set3.temperatureCelcius.isValid());
  }

  PoolReadGuard pg4(&max31865Set4);
  if (pg4.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
    sensorTemperatures.sensor_startracker.value = max31865Set4.temperatureCelcius.value;
    sensorTemperatures.sensor_startracker.setValid(max31865Set4.temperatureCelcius.isValid());
  }

  PoolReadGuard pg5(&max31865Set5);
  if (pg5.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
    sensorTemperatures.sensor_rw1.value = max31865Set5.temperatureCelcius.value;
    sensorTemperatures.sensor_rw1.setValid(max31865Set5.temperatureCelcius.isValid());
  }

  PoolReadGuard pg6(&max31865Set6);
  if (pg6.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
    sensorTemperatures.sensor_dro.value = max31865Set6.temperatureCelcius.value;
    sensorTemperatures.sensor_dro.setValid(max31865Set6.temperatureCelcius.isValid());
  }

  PoolReadGuard pg7(&max31865Set7);
  if (pg7.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
    sensorTemperatures.sensor_scex.value = max31865Set7.temperatureCelcius.value;
    sensorTemperatures.sensor_scex.setValid(max31865Set7.temperatureCelcius.isValid());
  }

  PoolReadGuard pg8(&max31865Set8);
  if (pg8.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
    sensorTemperatures.sensor_x8.value = max31865Set8.temperatureCelcius.value;
    sensorTemperatures.sensor_x8.setValid(max31865Set8.temperatureCelcius.isValid());
  }

  PoolReadGuard pg9(&max31865Set9);
  if (pg9.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
    sensorTemperatures.sensor_hpa.value = max31865Set9.temperatureCelcius.value;
    sensorTemperatures.sensor_hpa.setValid(max31865Set9.temperatureCelcius.isValid());
  }

  PoolReadGuard pg10(&max31865Set10);
  if (pg10.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
    sensorTemperatures.sensor_tx_modul.value = max31865Set10.temperatureCelcius.value;
    sensorTemperatures.sensor_tx_modul.setValid(max31865Set10.temperatureCelcius.isValid());
  }

  PoolReadGuard pg11(&max31865Set11);
  if (pg11.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
    sensorTemperatures.sensor_mpa.value = max31865Set11.temperatureCelcius.value;
    sensorTemperatures.sensor_mpa.setValid(max31865Set11.temperatureCelcius.isValid());
  }

  PoolReadGuard pg12(&max31865Set12);
  if (pg12.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
    sensorTemperatures.sensor_acu.value = max31865Set12.temperatureCelcius.value;
    sensorTemperatures.sensor_acu.setValid(max31865Set12.temperatureCelcius.isValid());
  }

  PoolReadGuard pg13(&max31865Set13);
  if (pg13.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
    sensorTemperatures.sensor_plpcdu_heatspreader.value = max31865Set13.temperatureCelcius.value;
    sensorTemperatures.sensor_plpcdu_heatspreader.setValid(
        max31865Set13.temperatureCelcius.isValid());
  }

  PoolReadGuard pg14(&max31865Set14);
  if (pg14.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
    sensorTemperatures.sensor_tcs_board.value = max31865Set14.temperatureCelcius.value;
    sensorTemperatures.sensor_tcs_board.setValid(max31865Set14.temperatureCelcius.isValid());
  }

  PoolReadGuard pg15(&max31865Set15);
  if (pg15.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
    sensorTemperatures.sensor_magnettorquer.value = max31865Set15.temperatureCelcius.value;
    sensorTemperatures.sensor_magnettorquer.setValid(max31865Set15.temperatureCelcius.isValid());
  }
}