#ifndef MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
#define MISSION_SYSTEM_ACSBOARDASSEMBLY_H_

#include <devices/powerSwitcherList.h>
#include <fsfw/objectmanager/frameworkObjects.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>

#include "DualLaneAssemblyBase.h"
#include "eive/eventSubsystemIds.h"
#include "mission/system/DualLanePowerStateMachine.h"

struct AcsBoardHelper {
  AcsBoardHelper(object_id_t mgm0Id, object_id_t mgm1Id, object_id_t mgm2Id, object_id_t mgm3Id,
                 object_id_t gyro0Id, object_id_t gyro1Id, object_id_t gyro2Id, object_id_t gyro3Id,
                 object_id_t gpsId, object_id_t gps0HealthDev, object_id_t gps1HealthDev)
      : mgm0Lis3IdSideA(mgm0Id),
        mgm1Rm3100IdSideA(mgm1Id),
        mgm2Lis3IdSideB(mgm2Id),
        mgm3Rm3100IdSideB(mgm3Id),
        gyro0AdisIdSideA(gyro0Id),
        gyro1L3gIdSideA(gyro1Id),
        gyro2AdisIdSideB(gyro2Id),
        gyro3L3gIdSideB(gyro3Id),
        gpsId(gpsId) {}

  object_id_t mgm0Lis3IdSideA = objects::NO_OBJECT;
  object_id_t mgm1Rm3100IdSideA = objects::NO_OBJECT;
  object_id_t mgm2Lis3IdSideB = objects::NO_OBJECT;
  object_id_t mgm3Rm3100IdSideB = objects::NO_OBJECT;

  object_id_t gyro0AdisIdSideA = objects::NO_OBJECT;
  object_id_t gyro1L3gIdSideA = objects::NO_OBJECT;
  object_id_t gyro2AdisIdSideB = objects::NO_OBJECT;
  object_id_t gyro3L3gIdSideB = objects::NO_OBJECT;

  object_id_t gpsId = objects::NO_OBJECT;

  object_id_t healthDevGps0 = objects::NO_OBJECT;
  object_id_t healthDevGps1 = objects::NO_OBJECT;

  Mode_t gyro0SideAMode = HasModesIF::MODE_OFF;
  Mode_t gyro1SideAMode = HasModesIF::MODE_OFF;
  Mode_t gyro2SideBMode = HasModesIF::MODE_OFF;
  Mode_t gyro3SideBMode = HasModesIF::MODE_OFF;
  Mode_t mgm0SideAMode = HasModesIF::MODE_OFF;
  Mode_t mgm1SideAMode = HasModesIF::MODE_OFF;
  Mode_t mgm2SideBMode = HasModesIF::MODE_OFF;
  Mode_t mgm3SideBMode = HasModesIF::MODE_OFF;
  Mode_t gpsMode = HasModesIF::MODE_OFF;
};

enum ModeTableIdx : uint8_t {
  MGM_0_A = 0,
  MGM_1_A = 1,
  MGM_2_B = 2,
  MGM_3_B = 3,
  GYRO_0_A = 4,
  GYRO_1_A = 5,
  GYRO_2_B = 6,
  GYRO_3_B = 7,
  GPS = 8
};

class PowerSwitchIF;
class GpioIF;

/**
 * @brief  Assembly class which manages redundant ACS board sides
 * @details
 * This class takes care of ensuring that enough devices on the ACS board are available at all
 * times. It does so by doing autonomous transitions to the redundant side or activating both sides
 * if not enough devices are available.
 *
 * This class also takes care of switching on the A side and/or B side power lanes. Normally,
 * doing this task would be performed by the device handlers, but this is not possible for the
 * ACS board where multiple sensors share the same power supply.
 */
class AcsBoardAssembly : public DualLaneAssemblyBase {
 public:
  // Use these variables instead of magic numbers when generator was updated
  // TRANSITION_OTHER_SIDE_FAILED_ID
  // NOT_ENOUGH_DEVICES_DUAL_MODE_ID
  // POWER_STATE_MACHINE_TIMEOUT_ID
  // SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID
  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_BOARD_ASS;
  static constexpr Event TRANSITION_OTHER_SIDE_FAILED =
      event::makeEvent(SUBSYSTEM_ID, 0, severity::HIGH);
  static constexpr Event NOT_ENOUGH_DEVICES_DUAL_MODE =
      event::makeEvent(SUBSYSTEM_ID, 1, severity::HIGH);
  static constexpr Event POWER_STATE_MACHINE_TIMEOUT =
      event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
  //! [EXPORT] : [COMMENT] Not implemented, would increase already high complexity. Operator
  //! should instead command the assembly off first and then command the assembly on into the
  //! desired mode/submode combination
  static constexpr Event SIDE_SWITCH_TRANSITION_NOT_ALLOWED =
      event::makeEvent(SUBSYSTEM_ID, 3, severity::LOW);
  //! [EXPORT] : [COMMENT] This is triggered when the assembly would have normally switched
  //! the board side, but the GPS device of the other side was marked faulty.
  //! P1: Current submode.
  static constexpr Event DIRECT_TRANSITION_TO_DUAL_OTHER_GPS_FAULTY =
      event::makeEvent(SUBSYSTEM_ID, 4, severity::MEDIUM);

  static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;

  AcsBoardAssembly(object_id_t objectId, PowerSwitchIF* pwrSwitcher, AcsBoardHelper helper,
                   GpioIF* gpioIF);

  /**
   * In dual mode, the A side or the B side GPS device can be used, but not both.
   * This function can be used to switch the used GPS device.
   * @param side
   */
  void selectGpsInDualMode(duallane::Submodes side);

 private:
  static constexpr power::Switches SWITCH_A = power::Switches::PDU1_CH7_ACS_A_SIDE_3V3;
  static constexpr power::Switches SWITCH_B = power::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3;

  AcsBoardHelper helper;
  GpioIF* gpioIF = nullptr;

  FixedArrayList<ModeListEntry, NUMBER_DEVICES_MODE_TABLE> modeTable;
  void gpioHandler(gpioId_t gpio, bool high, std::string error);

  ReturnValue_t initialize() override;

  // AssemblyBase overrides
  ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
  ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;

  void handleChildrenLostMode(ReturnValue_t result) override;

  ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
  ReturnValue_t checkAndHandleHealthStates(Mode_t deviceMode, Submode_t deviceSubmode);
  void refreshHelperModes();
  bool gps0HealthDevFaulty() const;
  bool gps1HealthDevFaulty() const;
};

#endif /* MISSION_SYSTEM_ACSBOARDASSEMBLY_H_ */