#include "linux/scheduling.h"

#include <bsp_hosted/fsfwconfig/pollingsequence/DummyPst.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/returnvalue.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 "OBSWConfig.h"
#include "ObjectFactory.h"
#include "scheduling.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 scheduling::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 scheduling::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", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  ReturnValue_t result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
  if (result != returnvalue::OK) {
    sif::error << "Object add component failed" << std::endl;
  }
  result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
  if (result != returnvalue::OK) {
    sif::error << "Object add component failed" << std::endl;
  }
  result = tmtcDistributor->addComponent(objects::TM_FUNNEL);
  if (result != returnvalue::OK) {
    sif::error << "Object add component failed" << std::endl;
  }
  result = tmtcDistributor->addComponent(objects::UDP_TMTC_SERVER);
  if (result != returnvalue::OK) {
    sif::error << "Add component UDP Unix Bridge failed" << std::endl;
  }
  result = tmtcDistributor->addComponent(objects::TCP_TMTC_SERVER);
  if (result != returnvalue::OK) {
    sif::error << "Add component UDP Unix Bridge failed" << std::endl;
  }

  PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
      "UDP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
  if (result != returnvalue::OK) {
    sif::error << "Add component UDP Polling failed" << std::endl;
  }
  PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
      "TCP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
  if (result != returnvalue::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 != returnvalue::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 != returnvalue::OK) {
    scheduling::printAddObjectError("EVENT_MNGR", objects::EVENT_MANAGER);
  }
  result = eventHandling->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
  if (result != returnvalue::OK) {
    scheduling::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 != returnvalue::OK) {
    scheduling::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
  if (result != returnvalue::OK) {
    scheduling::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 != returnvalue::OK) {
    scheduling::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
  if (result != returnvalue::OK) {
    scheduling::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 != returnvalue::OK) {
    scheduling::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
  }

  PeriodicTaskIF* thermalTask = factory->createPeriodicTask(
      "THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = thermalTask->addComponent(objects::CORE_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("Core controller dummy", objects::CORE_CONTROLLER);
  }

  result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
  }

  FixedTimeslotTaskIF* pstTask = factory->createFixedTimeslotTask(
      "DUMMY_PST", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
  result = dummy_pst::pst(pstTask);
  if (result != returnvalue::OK) {
    sif::error << "Failed to add dummy pst to fixed timeslot task" << std::endl;
  }

#if OBSW_ADD_PLOC_SUPERVISOR == 1
  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
      "PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
  }
#endif /* OBSW_ADD_PLOC_SUPERVISOR */

  PeriodicTaskIF* plTask = factory->createPeriodicTask(
      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  scheduling::addMpsocSupvHandlers(plTask);
#if OBSW_ADD_TEST_CODE == 1
  result = testTask->addComponent(objects::TEST_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("TEST_TASK", objects::TEST_TASK);
  }
#endif /* OBSW_ADD_TEST_CODE == 1 */

  PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
      "DUMMY_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
  dummyTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
  dummyTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
  dummyTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
  dummyTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
  dummyTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
  dummyTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
  dummyTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
  dummyTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
  dummyTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
  dummyTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
  dummyTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
  dummyTask->addComponent(objects::RTD_0_IC3_PLOC_HEATSPREADER);
  dummyTask->addComponent(objects::RTD_1_IC4_PLOC_MISSIONBOARD);
  dummyTask->addComponent(objects::RTD_2_IC5_4K_CAMERA);
  dummyTask->addComponent(objects::RTD_3_IC6_DAC_HEATSPREADER);
  dummyTask->addComponent(objects::RTD_4_IC7_STARTRACKER);
  dummyTask->addComponent(objects::RTD_5_IC8_RW1_MX_MY);
  dummyTask->addComponent(objects::RTD_6_IC9_DRO);
  dummyTask->addComponent(objects::RTD_7_IC10_SCEX);
  dummyTask->addComponent(objects::RTD_8_IC11_X8);
  dummyTask->addComponent(objects::RTD_9_IC12_HPA);
  dummyTask->addComponent(objects::RTD_10_IC13_PL_TX);
  dummyTask->addComponent(objects::RTD_11_IC14_MPA);
  dummyTask->addComponent(objects::RTD_12_IC15_ACU);
  dummyTask->addComponent(objects::RTD_13_IC16_PLPCDU_HEATSPREADER);
  dummyTask->addComponent(objects::RTD_14_IC17_TCS_BOARD);
  dummyTask->addComponent(objects::RTD_15_IC18_IMTQ);

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

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

  pstTask->startTask();
  thermalTask->startTask();
  dummyTask->startTask();
#if OBSW_ADD_PLOC_SUPERVISOR == 1
  supvHelperTask->startTask();
#endif
#if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
  plTask->startTask();
#endif

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

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