#include "AcsParameters.h"

#include <fsfw/src/fsfw/globalfunctions/constants.h>
#include <stddef.h>

AcsParameters::AcsParameters() {}

AcsParameters::~AcsParameters() {}

ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
                                          ParameterWrapper* parameterWrapper,
                                          const ParameterWrapper* newValues,
                                          uint16_t startAtIndex) {
  //  if (domainId == parameterModuleId) {
  switch (parameterId >> 8) {
    case 0x0:  // direct members
      switch (parameterId & 0xFF) {
        default:
          return INVALID_IDENTIFIER_ID;
      }
      break;
    case 0x1:  // OnBoardParams
      switch (parameterId & 0xFF) {
        case 0x0:
          parameterWrapper->set(onBoardParams.sampleTime);
          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
      break;
    case 0x2:  // InertiaEIVE
      switch (parameterId & 0xFF) {
        case 0x0:
          parameterWrapper->set(inertiaEIVE.inertiaMatrix);
          break;
        case 0x1:
          parameterWrapper->set(inertiaEIVE.inertiaMatrixDeployed);
          break;
        case 0x2:
          parameterWrapper->set(inertiaEIVE.inertiaMatrixUndeployed);
          break;
        case 0x3:
          parameterWrapper->set(inertiaEIVE.inertiaMatrixPanel1);
          break;
        case 0x4:
          parameterWrapper->set(inertiaEIVE.inertiaMatrixPanel3);
          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
      break;
    case 0x3:  // MgmHandlingParameters
      switch (parameterId & 0xFF) {
        case 0x0:
          parameterWrapper->set(mgmHandlingParameters.mgm0orientationMatrix);
          break;
        case 0x1:
          parameterWrapper->set(mgmHandlingParameters.mgm1orientationMatrix);
          break;
        case 0x2:
          parameterWrapper->set(mgmHandlingParameters.mgm2orientationMatrix);
          break;
        case 0x3:
          parameterWrapper->set(mgmHandlingParameters.mgm3orientationMatrix);
          break;
        case 0x4:
          parameterWrapper->set(mgmHandlingParameters.mgm4orientationMatrix);
          break;
        case 0x5:
          parameterWrapper->set(mgmHandlingParameters.mgm0hardIronOffset);
          break;
        case 0x6:
          parameterWrapper->set(mgmHandlingParameters.mgm1hardIronOffset);
          break;
        case 0x7:
          parameterWrapper->set(mgmHandlingParameters.mgm2hardIronOffset);
          break;
        case 0x8:
          parameterWrapper->set(mgmHandlingParameters.mgm3hardIronOffset);
          break;
        case 0x9:
          parameterWrapper->set(mgmHandlingParameters.mgm4hardIronOffset);
          break;
        case 0xA:
          parameterWrapper->set(mgmHandlingParameters.mgm0softIronInverse);
          break;
        case 0xB:
          parameterWrapper->set(mgmHandlingParameters.mgm1softIronInverse);
          break;
        case 0xC:
          parameterWrapper->set(mgmHandlingParameters.mgm2softIronInverse);
          break;
        case 0xD:
          parameterWrapper->set(mgmHandlingParameters.mgm3softIronInverse);
          break;
        case 0xE:
          parameterWrapper->set(mgmHandlingParameters.mgm4softIronInverse);
          break;
        case 0xF:
          parameterWrapper->set(mgmHandlingParameters.mgm02variance);
          break;
        case 0x10:
          parameterWrapper->set(mgmHandlingParameters.mgm13variance);
          break;
        case 0x11:
          parameterWrapper->set(mgmHandlingParameters.mgm4variance);
          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
      break;
    case 0x4:  // SusHandlingParameters
      switch (parameterId & 0xFF) {
        case 0x0:
          parameterWrapper->set(susHandlingParameters.sus0orientationMatrix);
          break;
        case 0x1:
          parameterWrapper->set(susHandlingParameters.sus1orientationMatrix);
          break;
        case 0x2:
          parameterWrapper->set(susHandlingParameters.sus2orientationMatrix);
          break;
        case 0x3:
          parameterWrapper->set(susHandlingParameters.sus3orientationMatrix);
          break;
        case 0x4:
          parameterWrapper->set(susHandlingParameters.sus4orientationMatrix);
          break;
        case 0x5:
          parameterWrapper->set(susHandlingParameters.sus5orientationMatrix);
          break;
        case 0x6:
          parameterWrapper->set(susHandlingParameters.sus6orientationMatrix);
          break;
        case 0x7:
          parameterWrapper->set(susHandlingParameters.sus7orientationMatrix);
          break;
        case 0x8:
          parameterWrapper->set(susHandlingParameters.sus8orientationMatrix);
          break;
        case 0x9:
          parameterWrapper->set(susHandlingParameters.sus9orientationMatrix);
          break;
        case 0xA:
          parameterWrapper->set(susHandlingParameters.sus10orientationMatrix);
          break;
        case 0xB:
          parameterWrapper->set(susHandlingParameters.sus11orientationMatrix);
          break;
        case 0xC:
          parameterWrapper->set(susHandlingParameters.sus0coeffAlpha);
          break;
        case 0xD:
          parameterWrapper->set(susHandlingParameters.sus0coeffBeta);
          break;
        case 0xE:
          parameterWrapper->set(susHandlingParameters.sus1coeffAlpha);
          break;
        case 0xF:
          parameterWrapper->set(susHandlingParameters.sus1coeffBeta);
          break;
        case 0x10:
          parameterWrapper->set(susHandlingParameters.sus2coeffAlpha);
          break;
        case 0x11:
          parameterWrapper->set(susHandlingParameters.sus2coeffBeta);
          break;
        case 0x12:
          parameterWrapper->set(susHandlingParameters.sus3coeffAlpha);
          break;
        case 0x13:
          parameterWrapper->set(susHandlingParameters.sus3coeffBeta);
          break;
        case 0x14:
          parameterWrapper->set(susHandlingParameters.sus4coeffAlpha);
          break;
        case 0x15:
          parameterWrapper->set(susHandlingParameters.sus4coeffBeta);
          break;
        case 0x16:
          parameterWrapper->set(susHandlingParameters.sus5coeffAlpha);
          break;
        case 0x17:
          parameterWrapper->set(susHandlingParameters.sus5coeffBeta);
          break;
        case 0x18:
          parameterWrapper->set(susHandlingParameters.sus6coeffAlpha);
          break;
        case 0x19:
          parameterWrapper->set(susHandlingParameters.sus6coeffBeta);
          break;
        case 0x1A:
          parameterWrapper->set(susHandlingParameters.sus7coeffAlpha);
          break;
        case 0x1B:
          parameterWrapper->set(susHandlingParameters.sus7coeffBeta);
          break;
        case 0x1C:
          parameterWrapper->set(susHandlingParameters.sus8coeffAlpha);
          break;
        case 0x1D:
          parameterWrapper->set(susHandlingParameters.sus8coeffBeta);
          break;
        case 0x1E:
          parameterWrapper->set(susHandlingParameters.sus9coeffAlpha);
          break;
        case 0x1F:
          parameterWrapper->set(susHandlingParameters.sus9coeffBeta);
          break;
        case 0x20:
          parameterWrapper->set(susHandlingParameters.sus10coeffAlpha);
          break;
        case 0x21:
          parameterWrapper->set(susHandlingParameters.sus10coeffBeta);
          break;
        case 0x22:
          parameterWrapper->set(susHandlingParameters.sus11coeffAlpha);
          break;
        case 0x23:
          parameterWrapper->set(susHandlingParameters.sus11coeffBeta);
          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
      break;
    case (0x5):  // GyrHandlingParameters
      switch (parameterId & 0xFF) {
        case 0x0:
          parameterWrapper->set(gyrHandlingParameters.gyr0orientationMatrix);
          break;
        case 0x1:
          parameterWrapper->set(gyrHandlingParameters.gyr1orientationMatrix);
          break;
        case 0x2:
          parameterWrapper->set(gyrHandlingParameters.gyr2orientationMatrix);
          break;
        case 0x3:
          parameterWrapper->set(gyrHandlingParameters.gyr3orientationMatrix);
          break;
        case 0x4:
          parameterWrapper->set(gyrHandlingParameters.gyr02variance);
          break;
        case 0x5:
          parameterWrapper->set(gyrHandlingParameters.gyr13variance);
          break;
        case 0x6:
          parameterWrapper->set(gyrHandlingParameters.preferAdis);
          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
      break;
    case (0x6):  // RwHandlingParameters
      switch (parameterId & 0xFF) {
        case 0x0:
          parameterWrapper->set(rwHandlingParameters.inertiaWheel);
          break;
        case 0x1:
          parameterWrapper->set(rwHandlingParameters.maxTrq);
          break;
        case 0x2:
          parameterWrapper->set(rwHandlingParameters.stictionSpeed);
          break;
        case 0x3:
          parameterWrapper->set(rwHandlingParameters.stictionReleaseSpeed);
          break;
        case 0x4:
          parameterWrapper->set(rwHandlingParameters.stictionTorque);
          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
      break;
    case (0x7):  // RwMatrices
      switch (parameterId & 0xFF) {
        case 0x0:
          parameterWrapper->set(rwMatrices.alignmentMatrix);
          break;
        case 0x1:
          parameterWrapper->set(rwMatrices.pseudoInverse);
          break;
        case 0x2:
          parameterWrapper->set(rwMatrices.without0);
          break;
        case 0x3:
          parameterWrapper->set(rwMatrices.without1);
          break;
        case 0x4:
          parameterWrapper->set(rwMatrices.without2);
          break;
        case 0x5:
          parameterWrapper->set(rwMatrices.without3);
          break;
        case 0x6:
          parameterWrapper->set(rwMatrices.nullspace);
          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
      break;
    case (0x8):  // SafeModeControllerParameters
      switch (parameterId & 0xFF) {
        case 0x0:
          parameterWrapper->set(safeModeControllerParameters.k_rate_mekf);
          break;
        case 0x1:
          parameterWrapper->set(safeModeControllerParameters.k_align_mekf);
          break;
        case 0x2:
          parameterWrapper->set(safeModeControllerParameters.k_rate_no_mekf);
          break;
        case 0x3:
          parameterWrapper->set(safeModeControllerParameters.k_align_no_mekf);
          break;
        case 0x4:
          parameterWrapper->set(safeModeControllerParameters.sunMagAngleMin);
          break;
        case 0x5:
          parameterWrapper->set(safeModeControllerParameters.sunTargetDir);
          break;
        case 0x6:
          parameterWrapper->set(safeModeControllerParameters.satRateRef);
          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
      break;
    case (0x9):  // PointingModeControllerParameters
      switch (parameterId & 0xFF) {
        case 0x0:
          parameterWrapper->set(targetModeControllerParameters.refDirection);
          break;
        case 0x1:
          parameterWrapper->set(targetModeControllerParameters.refRotRate);
          break;
        case 0x2:
          parameterWrapper->set(targetModeControllerParameters.quatRef);
          break;
        case 0x3:
          parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
          break;
        case 0x4:
          parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
          break;
        case 0x5:
          parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
          break;
        case 0x6:
          parameterWrapper->set(targetModeControllerParameters.blindRotRate);
          break;
        case 0x7:
          parameterWrapper->set(targetModeControllerParameters.zeta);
          break;
        case 0x8:
          parameterWrapper->set(targetModeControllerParameters.om);
          break;
        case 0x9:
          parameterWrapper->set(targetModeControllerParameters.omMax);
          break;
        case 0xA:
          parameterWrapper->set(targetModeControllerParameters.qiMin);
          break;
        case 0xB:
          parameterWrapper->set(targetModeControllerParameters.gainNullspace);
          break;
        case 0xC:
          parameterWrapper->set(targetModeControllerParameters.desatMomentumRef);
          break;
        case 0xD:
          parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
          break;
        case 0xE:
          parameterWrapper->set(targetModeControllerParameters.desatOn);
          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
      break;
    case (0xA):  // StrParameters
      switch (parameterId & 0xFF) {
        case 0x0:
          parameterWrapper->set(strParameters.exclusionAngle);
          break;
        case 0x1:
          parameterWrapper->set(strParameters.boresightAxis);
          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
      break;
    case (0xB):  // GpsParameters
      switch (parameterId & 0xFF) {
        case 0x0:
          parameterWrapper->set(gpsParameters.timeDiffVelocityMax);
          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
      break;
    case (0xC):  // PtgTargetParameters
      switch (parameterId & 0xFF) {
        case 0x0:
          parameterWrapper->set(ptgTargetParameters.latitudeTgt);
          break;
        case 0x1:
          parameterWrapper->set(ptgTargetParameters.longitudeTgt);
          break;
        case 0x2:
          parameterWrapper->set(ptgTargetParameters.altitudeTgt);
          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
      break;
    case (0xD):  // SunModelParameters
      switch (parameterId & 0xFF) {
        case 0x0:
          parameterWrapper->set(sunModelParameters.domega);
          break;
        case 0x1:
          parameterWrapper->set(sunModelParameters.omega_0);
          break;
        case 0x2:
          parameterWrapper->set(sunModelParameters.m_0);
          break;
        case 0x3:
          parameterWrapper->set(sunModelParameters.dm);
          break;
        case 0x4:
          parameterWrapper->set(sunModelParameters.e);
          break;
        case 0x5:
          parameterWrapper->set(sunModelParameters.e1);
          break;
        case 0x6:
          parameterWrapper->set(sunModelParameters.p1);
          break;
        case 0x7:
          parameterWrapper->set(sunModelParameters.p2);
          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
      break;
    case (0xE):  // KalmanFilterParameters
      switch (parameterId & 0xFF) {
        case 0x0:
          parameterWrapper->set(kalmanFilterParameters.sensorNoiseSTR);
          break;
        case 0x1:
          parameterWrapper->set(kalmanFilterParameters.sensorNoiseSS);
          break;
        case 0x2:
          parameterWrapper->set(kalmanFilterParameters.sensorNoiseMAG);
          break;
        case 0x3:
          parameterWrapper->set(kalmanFilterParameters.sensorNoiseGYR);
          break;
        case 0x4:
          parameterWrapper->set(kalmanFilterParameters.sensorNoiseArwGYR);
          break;
        case 0x5:
          parameterWrapper->set(kalmanFilterParameters.sensorNoiseBsGYR);
          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
      break;
    case (0xF):  // MagnetorquesParameter
      switch (parameterId & 0xFF) {
        case 0x0:
          parameterWrapper->set(magnetorquesParameter.mtq0orientationMatrix);
          break;
        case 0x1:
          parameterWrapper->set(magnetorquesParameter.mtq1orientationMatrix);
          break;
        case 0x2:
          parameterWrapper->set(magnetorquesParameter.mtq2orientationMatrix);
          break;
        case 0x3:
          parameterWrapper->set(magnetorquesParameter.alignmentMatrixMtq);
          break;
        case 0x4:
          parameterWrapper->set(magnetorquesParameter.inverseAlignment);
          break;
        case 0x5:
          parameterWrapper->set(magnetorquesParameter.DipolMax);
          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
      break;
    case (0x10):  // DetumbleParameter
      switch (parameterId & 0xFF) {
        case 0x0:
          parameterWrapper->set(detumbleParameter.detumblecounter);
          break;
        case 0x1:
          parameterWrapper->set(detumbleParameter.omegaDetumbleStart);
          break;
        case 0x2:
          parameterWrapper->set(detumbleParameter.omegaDetumbleEnd);
          break;
        case 0x3:
          parameterWrapper->set(detumbleParameter.gainD);
          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
      break;
    default:
      return INVALID_IDENTIFIER_ID;
    }
    return returnvalue::OK;
    //  } else {
    //    return INVALID_DOMAIN_ID;
    //  }
}