#ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_
#define MISSION_CONTROLLER_THERMALCONTROLLER_H_

#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/timemanager/Countdown.h>
#include <mission/controller/controllerdefinitions/ThermalControllerDefinitions.h>
#include <mission/devices/devicedefinitions/Max31865Definitions.h>
#include <mission/devices/devicedefinitions/SusDefinitions.h>
#include <mission/devices/devicedefinitions/Tmp1075Definitions.h>

#include "../devices/HeaterHandler.h"

/**
 * NOP Limit: Hard limit for device, usually from datasheet. Device damage is possible lif NOP limit
 * is exceeded.
 * OP Limit: Soft limit. Device should be switched off or TCS controller should take action if the
 * limit is exceeded to avoid reaching NOP limit
 */
struct TempLimits {
  TempLimits(float nopLowerLimit, float opLowerLimit, float opUpperLimit, float nopUpperLimit)
      : opLowerLimit(opLowerLimit),
        opUpperLimit(opUpperLimit),
        nopLowerLimit(nopLowerLimit),
        nopUpperLimit(nopUpperLimit) {}
  float opLowerLimit;
  float opUpperLimit;
  float nopLowerLimit;
  float nopUpperLimit;
  // TODO define limits
};

class ThermalController : public ExtendedControllerBase {
 public:
  static const uint16_t INVALID_TEMPERATURE = 999;

  ThermalController(object_id_t objectId, HeaterHandler& heater);

  ReturnValue_t initialize() override;

 protected:
  virtual ReturnValue_t handleCommandMessage(CommandMessage* message) override;
  virtual void performControlOperation() override;
  virtual ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                LocalDataPoolManager& poolManager) override;
  virtual LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;

  // Mode abstract functions
  virtual ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                         uint32_t* msToReachTheMode) override;

 private:
  static const uint32_t DELAY = 500;

  enum class InternalState { STARTUP, INITIAL_DELAY, READY };

  InternalState internalState = InternalState::STARTUP;

  HeaterHandler& heaterHandler;

  thermalControllerDefinitions::SensorTemperatures sensorTemperatures;
  thermalControllerDefinitions::SusTemperatures susTemperatures;
  thermalControllerDefinitions::DeviceTemperatures deviceTemperatures;

  // Temperature Sensors
  MAX31865::Max31865Set max31865Set0;
  MAX31865::Max31865Set max31865Set1;
  MAX31865::Max31865Set max31865Set2;
  MAX31865::Max31865Set max31865Set3;
  MAX31865::Max31865Set max31865Set4;
  MAX31865::Max31865Set max31865Set5;
  MAX31865::Max31865Set max31865Set6;
  MAX31865::Max31865Set max31865Set7;
  MAX31865::Max31865Set max31865Set8;
  MAX31865::Max31865Set max31865Set9;
  MAX31865::Max31865Set max31865Set10;
  MAX31865::Max31865Set max31865Set11;
  MAX31865::Max31865Set max31865Set12;
  MAX31865::Max31865Set max31865Set13;
  MAX31865::Max31865Set max31865Set14;
  MAX31865::Max31865Set max31865Set15;
  TMP1075::Tmp1075Dataset tmp1075SetTcs0;
  TMP1075::Tmp1075Dataset tmp1075SetTcs1;
  TMP1075::Tmp1075Dataset tmp1075SetPlPcdu0;
  TMP1075::Tmp1075Dataset tmp1075SetPlPcdu1;
  TMP1075::Tmp1075Dataset tmp1075SetIfBoard;

  // SUS
  SUS::SusDataset susSet0;
  SUS::SusDataset susSet1;
  SUS::SusDataset susSet2;
  SUS::SusDataset susSet3;
  SUS::SusDataset susSet4;
  SUS::SusDataset susSet5;
  SUS::SusDataset susSet6;
  SUS::SusDataset susSet7;
  SUS::SusDataset susSet8;
  SUS::SusDataset susSet9;
  SUS::SusDataset susSet10;
  SUS::SusDataset susSet11;

  // TempLimits
  // TempLimits plocHeatspreaderLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
  // TempLimits plocMissionBoardLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
  TempLimits cameraLimits = TempLimits(-40.0, -30.0, 65.0, 85.0);
  TempLimits dacHeatspreaderLimits = TempLimits(-65.0, -40.0, 118.0, 150.0);
  TempLimits strLimits = TempLimits(-30.0, -20.0, 70.0, 80.0);
  TempLimits rw1Limits = TempLimits(-40.0, -40.0, 85.0, 85.0);
  // TempLimits droLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
  TempLimits scexLimits = TempLimits(-60.0, -40.0, 85.0, 150.0);
  // TempLimits x8Limits = TempLimits(-20.0, 70.0, -30.0, 80.0);
  // TempLimits hpaLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
  // TempLimits txModuleLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
  // TempLimits mpaLimits = TempLimits(-20.0, 70.0, -30.0, 80.0);
  TempLimits acuLimits = TempLimits(-55.0, -35.0, 85.0, 150.0);                 // TODO nopLimits
  TempLimits plpcduHeatspreaderLimits = TempLimits(-65.0, -40.0, 85.0, 125.0);  // TODO check
  TempLimits tcsBoardLimits = TempLimits(-60.0, -40.0, 85.0, 130.0);
  TempLimits magnettorquerLimits = TempLimits(-40.0, -30.0, 70.0, 80.0);  // TODO nopLimits

  // Initial delay to make sure all pool variables have been initialized their owners
  Countdown initialCountdown = Countdown(DELAY);

  PoolEntry<float> tmp1075Tcs0 = PoolEntry<float>(10.0);
  PoolEntry<float> tmp1075Tcs1 = PoolEntry<float>(10.0);
  PoolEntry<float> tmp1075PlPcdu0 = PoolEntry<float>(10.0);
  PoolEntry<float> tmp1075PlPcdu1 = PoolEntry<float>(10.0);
  PoolEntry<float> tmp1075IfBrd = PoolEntry<float>(10.0);

  static constexpr dur_millis_t MUTEX_TIMEOUT = 50;
  void copySensors();
  void copySus();
  void copyDevices();
};

#endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */