#include "InitMission.h"
#include "ObjectFactory.h"
#include <OBSWConfig.h>

#include <mission/utility/InitMission.h>

#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <fsfwconfig/pollingsequence/pollingSequenceFactory.h>
#include <iostream>

/* This is configured for linux without CR */
#ifdef LINUX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR", false, false, true);
#else
ServiceInterfaceStream sif::debug("DEBUG", true);
ServiceInterfaceStream sif::info("INFO", true);
ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif

ObjectManagerIF *objectManager = nullptr;

void initmission::initMission() {
    sif::info << "Building global objects.." << std::endl;
    /* Instantiate global object manager and also create all objects */
    objectManager = new ObjectManager(ObjectFactory::produce);
    sif::info << "Initializing all objects.." << std::endl;
    objectManager->initialize();

    /* This function creates and starts all tasks */
    initTasks();
}

void initmission::initTasks() {
    TaskFactory* factory = TaskFactory::instance();
    if(factory == nullptr) {
        /* Should never happen ! */
        return;
    }
#if OBSW_PRINT_MISSED_DEADLINES == 1
    void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
#else
    void (*missedDeadlineFunc) (void) = nullptr;
#endif

    /* TMTC Distribution */
    PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
            "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
    ReturnValue_t result = tmTcDistributor->addComponent(
            objects::CCSDS_PACKET_DISTRIBUTOR);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
    }
    result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
    }
    result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
    }

    /* UDP bridge */
    PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
            "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
    result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("UDP_BRIDGE", objects::UDP_BRIDGE);
    }
    PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
            "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
    result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK);
    }

    /* PUS Services */
    PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
            "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
    result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
    }

    PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
            "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
    result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
    }

    PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
            "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
    result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
    }
    result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
    }

    PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
            "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
    result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
    }
    result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
    if(result!=HasReturnvaluesIF::RETURN_OK){
        sif::error << "Object add component failed" << std::endl;
    }
    result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
    }
    result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
    }

    PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
            "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
    result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
    }

#if TE0720 == 0

    //TODO: Add handling of missed deadlines
    /* Polling Sequence Table Default */
#if Q7S_ADD_SPI_TEST == 0
    FixedTimeslotTaskIF * pollingSequenceTableTaskDefault = factory->createFixedTimeslotTask(
            "PST_TASK_DEFAULT", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
            missedDeadlineFunc);
    result = pst::pollingSequenceInitDefault(pollingSequenceTableTaskDefault);
    if (result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
    }
#endif

    FixedTimeslotTaskIF* gomSpacePstTask = factory->
            createFixedTimeslotTask("GS_PST_TASK", 50,
                    PeriodicTaskIF::MINIMUM_STACK_SIZE*8, 1.0, missedDeadlineFunc);
    result = pst::gomspacePstInit(gomSpacePstTask);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
    }

#else
    FixedTimeslotTaskIF * pollingSequenceTableTE0720 = factory->createFixedTimeslotTask(
            "PST_TASK_TE0720", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
            missedDeadlineFunc);
    result = pst::pollingSequenceTE0720(pollingSequenceTableTE0720);
    if (result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
    }
#endif

#if OBSW_ADD_TEST_CODE == 1
    PeriodicTaskIF* testTask = factory->createPeriodicTask(
            "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
    result = testTask->addComponent(objects::TEST_TASK);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
    }

#if Q7S_ADD_SPI_TEST == 1
    result = testTask->addComponent(objects::SPI_TEST);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
    }
#endif
#endif /* OBSW_ADD_TEST_CODE == 1 */
#if TE0720 == 1 && TEST_LIBGPIOD == 1
    result = testTask->addComponent(objects::LIBGPIOD_TEST);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
    }
#endif /* TE0720 == 1 && TEST_LIBGPIOD == 1 */

    sif::info << "Starting tasks.." << std::endl;
    tmTcDistributor->startTask();
    udpBridgeTask->startTask();
    udpPollingTask->startTask();

#if TE0720 == 0 && Q7S_ADD_SPI_TEST == 0
    gomSpacePstTask->startTask();
    pollingSequenceTableTaskDefault->startTask();
#elif TE0720 == 1 && Q7S_ADD_SPI_TEST == 0
    pollingSequenceTableTE0720->startTask();
#endif

    pusVerification->startTask();
    pusEvents->startTask();
    pusHighPrio->startTask();
    pusMedPrio->startTask();
    pusLowPrio->startTask();

#if OBSW_ADD_TEST_CODE == 1
    testTask->startTask();
#endif
    sif::info << "Tasks started.." << std::endl;
}