#include "InitMission.h"

#include <OBSWConfig.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <mission/utility/InitMission.h>

#include <iostream>

#include "ObjectFactory.h"

#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::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
  sif::info << "Initializing all objects.." << std::endl;
  ObjectManager::instance()->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) {
    sif::error << "Object add component failed" << std::endl;
  }
  result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "Object add component failed" << std::endl;
  }
  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "Object add component failed" << std::endl;
  }

  /* UDP bridge */
  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
      "TMTC_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "Add component UDP Unix Bridge failed" << std::endl;
  }
  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
      "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "Add component UDP Polling failed" << std::endl;
  }

  /* 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) {
    sif::error << "Object add component failed" << std::endl;
  }

  PeriodicTaskIF* eventHandling = factory->createPeriodicTask(
      "EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = eventHandling->addComponent(objects::EVENT_MANAGER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("EVENT_MNGR", objects::EVENT_MANAGER);
  }
  result = eventHandling->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS5", 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("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
  }

  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("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS20", 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("PUS17", objects::PUS_SERVICE_17_TEST);
  }

  PeriodicTaskIF* thermalControllerTask = factory->createPeriodicTask(
      "THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = thermalControllerTask->addComponent(objects::THERMAL_CONTROLLER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
  }

  // needs high priority to be able to run before the controller tasks
  PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
      "THERMAL_CTL_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = dummyTask->addComponent(objects::RTD_0_IC3_PLOC_HEATSPREADER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("RTD_0_dummy", objects::RTD_0_IC3_PLOC_HEATSPREADER);
  }
  result = dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("SUS_0_dummy", objects::SUS_0_N_LOC_XFYFZM_PT_XF);
  }
#if OBSW_ADD_TEST_CODE == 1
  result = testTask->addComponent(objects::TEST_TASK);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
  }
#endif /* OBSW_ADD_TEST_CODE == 1 */

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

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

  dummyTask->startTask();

  thermalControllerTask->startTask();

  

#if OBSW_ADD_TEST_CODE == 1
  testTask->startTask();
#endif /* OBSW_ADD_TEST_CODE == 1 */

  sif::info << "Tasks started.." << std::endl;
}