#ifndef MISSION_CONTROLLER_ACSCONTROLLER_H_
#define MISSION_CONTROLLER_ACSCONTROLLER_H_

#include <eive/objects.h>
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/coordinates/Sgp4Propagator.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <fsfw/health/HealthTable.h>
#include <fsfw/parameters/ParameterHelper.h>
#include <fsfw/parameters/ReceivesParameterMessagesIF.h>
#include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
#include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
#include <mission/acs/defs.h>
#include <mission/acs/imtqHelpers.h>
#include <mission/acs/rwHelpers.h>
#include <mission/acs/susMax1227Helpers.h>
#include <mission/config/torquer.h>
#include <mission/controller/acs/ActuatorCmd.h>
#include <mission/controller/acs/AttitudeEstimation.h>
#include <mission/controller/acs/FusedRotationEstimation.h>
#include <mission/controller/acs/Guidance.h>
#include <mission/controller/acs/MultiplicativeKalmanFilter.h>
#include <mission/controller/acs/Navigation.h>
#include <mission/controller/acs/SensorProcessing.h>
#include <mission/controller/acs/control/Detumble.h>
#include <mission/controller/acs/control/PtgCtrl.h>
#include <mission/controller/acs/control/SafeCtrl.h>
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
#include <mission/memory/SdCardMountedIF.h>
#include <mission/utility/trace.h>

#include <filesystem>
#include <fstream>
#include <optional>

class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
 public:
  static constexpr dur_millis_t INIT_DELAY = 500;

  AcsController(object_id_t objectId, bool enableHkSets, SdCardMountedIF& sdcMan);

  MessageQueueId_t getCommandQueue() const;
  ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
                             ParameterWrapper* parameterWrapper, const ParameterWrapper* newValues,
                             uint16_t startAtIndex) override;

 protected:
 private:
  static constexpr int16_t ZERO_VEC3_INT16[3] = {0, 0, 0};
  static constexpr double ZERO_VEC3[3] = {0, 0, 0};
  static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
  static constexpr double RW_OFF_TORQUE[4] = {0, 0, 0, 0};
  static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0};

  bool enableHkSets = false;

  SdCardMountedIF& sdcMan;

  timeval timeAbsolute;
  timeval timeRelative;
  double timeDelta = 0.0;
  timeval oldTimeRelative;

  AcsParameters acsParameters;
  SensorProcessing sensorProcessing;
  AttitudeEstimation attitudeEstimation;
  FusedRotationEstimation fusedRotationEstimation;
  Navigation navigation;
  ActuatorCmd actuatorCmd;
  Guidance guidance;

  SafeCtrl safeCtrl;
  Detumble detumble;
  PtgCtrl ptgCtrl;

  ParameterHelper parameterHelper;

  bool tleTooOldFlag = false;
  uint8_t detumbleCounter = 0;
  uint8_t multipleRwUnavailableCounter = 0;
  bool mekfInvalidFlag = false;
  uint16_t ptgCtrlLostCounter = 0;
  bool safeCtrlFailureFlag = false;
  uint8_t safeCtrlFailureCounter = 0;
  uint8_t resetMekfCount = 0;
  bool mekfLost = false;

  int32_t cmdSpeedRws[4] = {0, 0, 0, 0};
  int16_t cmdDipoleMtqs[3] = {0, 0, 0};

#if OBSW_THREAD_TRACING == 1
  uint32_t opCounter = 0;
#endif

  enum class InternalState { STARTUP, INITIAL_DELAY, READY };
  InternalState internalState = InternalState::STARTUP;

  enum class DetumbleState {
    NO_DETUMBLE,
    DETUMBLE_FROM_PTG,
    PTG_TO_SAFE_TRANSITION,
    DETUMBLE_FROM_SAFE,
    IN_DETUMBLE
  };
  DetumbleState detumbleState = DetumbleState::NO_DETUMBLE;

  /** Device command IDs */
  static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0;
  static const DeviceCommandId_t RESET_MEKF = 0x1;
  static const DeviceCommandId_t RESTORE_MEKF_NONFINITE_RECOVERY = 0x2;
  static const DeviceCommandId_t UPDATE_TLE = 0x3;
  static const DeviceCommandId_t READ_TLE = 0x4;
  static const DeviceCommandId_t UPDATE_STANDARD_DEVIATIONS = 0x5;

  ReturnValue_t initialize() override;
  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
  void performControlOperation() override;

  /* HasActionsIF overrides */
  ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                              const uint8_t* data, size_t size) override;

  ReturnValue_t initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                        LocalDataPoolManager& poolManager) override;
  LocalPoolDataSetBase* getDataSetHandle(sid_t sid) override;

  // Mode abstract functions
  ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode,
                                 uint32_t* msToReachTheMode) override;
  void modeChanged(Mode_t mode, Submode_t submode);
  void announceMode(bool recursive);

  void performAttitudeControl();
  void performSafe();
  void performDetumble();
  void performPointingCtrl();

  void handleDetumbling();

  void safeCtrlFailure(uint8_t mgmFailure, uint8_t sensorFailure);

  ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
                                 uint16_t dipoleTorqueDuration);
  ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
                                 uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
                                 int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);
  void updateActuatorCmdData(const int16_t* mtqTargetDipole);
  void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
                             const int16_t* mtqTargetDipole);
  void updateCtrlValData(acs::ControlModeStrategy ctrlStrat);
  void updateCtrlValData(double errAng, acs::ControlModeStrategy ctrlStrat);
  void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
                         const double* tgtRotRate, acs::ControlModeStrategy cStrat);

  ReturnValue_t updateTle(const uint8_t* line1, const uint8_t* line2, bool fromFile);
  ReturnValue_t writeTleToFs(const uint8_t* tle);
  ReturnValue_t readTleFromFs(uint8_t* line1, uint8_t* line2);

  const std::string TLE_FILE = "/conf/tle.txt";

  /* ACS Sensor Values */
  ACS::SensorValues sensorValues;

  /* ACS Actuation Datasets */
  imtq::DipoleActuationSet dipoleSet = imtq::DipoleActuationSet(objects::IMTQ_HANDLER);
  rws::RwSpeedActuationSet rw1SpeedSet = rws::RwSpeedActuationSet(objects::RW1);
  rws::RwSpeedActuationSet rw2SpeedSet = rws::RwSpeedActuationSet(objects::RW2);
  rws::RwSpeedActuationSet rw3SpeedSet = rws::RwSpeedActuationSet(objects::RW3);
  rws::RwSpeedActuationSet rw4SpeedSet = rws::RwSpeedActuationSet(objects::RW4);
  /* ACS Datasets */
  // MGMs
  acsctrl::MgmDataRaw mgmDataRaw;
  PoolEntry<float> mgm0VecRaw = PoolEntry<float>(3);
  PoolEntry<float> mgm1VecRaw = PoolEntry<float>(3);
  PoolEntry<float> mgm2VecRaw = PoolEntry<float>(3);
  PoolEntry<float> mgm3VecRaw = PoolEntry<float>(3);
  PoolEntry<float> imtqMgmVecRaw = PoolEntry<float>(3);
  PoolEntry<uint8_t> imtqCalActStatus = PoolEntry<uint8_t>();
  void copyMgmData();

  acsctrl::MgmDataProcessed mgmDataProcessed;
  PoolEntry<float> mgm0VecProc = PoolEntry<float>(3);
  PoolEntry<float> mgm1VecProc = PoolEntry<float>(3);
  PoolEntry<float> mgm2VecProc = PoolEntry<float>(3);
  PoolEntry<float> mgm3VecProc = PoolEntry<float>(3);
  PoolEntry<float> mgm4VecProc = PoolEntry<float>(3);
  PoolEntry<double> mgmVecTot = PoolEntry<double>(3);
  PoolEntry<double> mgmVecTotDer = PoolEntry<double>(3);
  PoolEntry<double> magIgrf = PoolEntry<double>(3);

  // SUSs
  acsctrl::SusDataRaw susDataRaw;
  PoolEntry<uint16_t> sus0ValRaw = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus1ValRaw = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus2ValRaw = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus3ValRaw = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus4ValRaw = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus5ValRaw = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus6ValRaw = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus7ValRaw = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus8ValRaw = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus9ValRaw = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus10ValRaw = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus11ValRaw = PoolEntry<uint16_t>(6);
  void copySusData();

  acsctrl::SusDataProcessed susDataProcessed;
  PoolEntry<float> sus0VecProc = PoolEntry<float>(3);
  PoolEntry<float> sus1VecProc = PoolEntry<float>(3);
  PoolEntry<float> sus2VecProc = PoolEntry<float>(3);
  PoolEntry<float> sus3VecProc = PoolEntry<float>(3);
  PoolEntry<float> sus4VecProc = PoolEntry<float>(3);
  PoolEntry<float> sus5VecProc = PoolEntry<float>(3);
  PoolEntry<float> sus6VecProc = PoolEntry<float>(3);
  PoolEntry<float> sus7VecProc = PoolEntry<float>(3);
  PoolEntry<float> sus8VecProc = PoolEntry<float>(3);
  PoolEntry<float> sus9VecProc = PoolEntry<float>(3);
  PoolEntry<float> sus10VecProc = PoolEntry<float>(3);
  PoolEntry<float> sus11VecProc = PoolEntry<float>(3);
  PoolEntry<double> susVecTot = PoolEntry<double>(3);
  PoolEntry<double> susVecTotDer = PoolEntry<double>(3);
  PoolEntry<double> sunIjk = PoolEntry<double>(3);

  // GYRs
  acsctrl::GyrDataRaw gyrDataRaw;
  PoolEntry<double> gyr0VecRaw = PoolEntry<double>(3);
  PoolEntry<float> gyr1VecRaw = PoolEntry<float>(3);
  PoolEntry<double> gyr2VecRaw = PoolEntry<double>(3);
  PoolEntry<float> gyr3VecRaw = PoolEntry<float>(3);
  void copyGyrData();

  acsctrl::GyrDataProcessed gyrDataProcessed;
  PoolEntry<double> gyr0VecProc = PoolEntry<double>(3);
  PoolEntry<double> gyr1VecProc = PoolEntry<double>(3);
  PoolEntry<double> gyr2VecProc = PoolEntry<double>(3);
  PoolEntry<double> gyr3VecProc = PoolEntry<double>(3);
  PoolEntry<double> gyrVecTot = PoolEntry<double>(3);

  // GPS
  acsctrl::GpsDataProcessed gpsDataProcessed;
  PoolEntry<double> gcLatitude = PoolEntry<double>();
  PoolEntry<double> gdLongitude = PoolEntry<double>();
  PoolEntry<double> altitude = PoolEntry<double>();
  PoolEntry<double> gpsPosition = PoolEntry<double>(3);
  PoolEntry<double> gpsVelocity = PoolEntry<double>(3);
  PoolEntry<uint8_t> gpsSource = PoolEntry<uint8_t>();

  // Attitude Estimation
  acsctrl::AttitudeEstimationData attitudeEstimationData;
  PoolEntry<double> quatMekf = PoolEntry<double>(4);
  PoolEntry<double> satRotRateMekf = PoolEntry<double>(3);
  PoolEntry<uint8_t> mekfStatus = PoolEntry<uint8_t>();
  PoolEntry<double> quatQuest = PoolEntry<double>(4);

  // Ctrl Values
  acsctrl::CtrlValData ctrlValData;
  PoolEntry<uint8_t> safeStrat = PoolEntry<uint8_t>();
  PoolEntry<double> tgtQuat = PoolEntry<double>(4);
  PoolEntry<double> errQuat = PoolEntry<double>(4);
  PoolEntry<double> errAng = PoolEntry<double>();
  PoolEntry<double> tgtRotRate = PoolEntry<double>(3);

  // Actuator CMD
  acsctrl::ActuatorCmdData actuatorCmdData;
  PoolEntry<double> rwTargetTorque = PoolEntry<double>(4);
  PoolEntry<int32_t> rwTargetSpeed = PoolEntry<int32_t>(4);
  PoolEntry<int16_t> mtqTargetDipole = PoolEntry<int16_t>(3);

  // Fused Rot Rate
  acsctrl::FusedRotRateData fusedRotRateData;
  PoolEntry<double> rotRateOrthogonal = PoolEntry<double>(3);
  PoolEntry<double> rotRateParallel = PoolEntry<double>(3);
  PoolEntry<double> rotRateTotal = PoolEntry<double>(3);
  PoolEntry<uint8_t> rotRateSource = PoolEntry<uint8_t>();

  // Fused Rot Rate Sources
  acsctrl::FusedRotRateSourcesData fusedRotRateSourcesData;
  PoolEntry<double> rotRateOrthogonalSusMgm = PoolEntry<double>(3);
  PoolEntry<double> rotRateParallelSusMgm = PoolEntry<double>(3);
  PoolEntry<double> rotRateTotalSusMgm = PoolEntry<double>(3);
  PoolEntry<double> rotRateTotalQuest = PoolEntry<double>(3);
  PoolEntry<double> rotRateTotalStr = PoolEntry<double>(3);

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

  // Countdown after which the detumbling mode change should have been finished
  static constexpr dur_millis_t MAX_DURATION = 60 * 1e3;
  Countdown detumbleTransitionCountdow = Countdown(MAX_DURATION);
};

#endif /* MISSION_CONTROLLER_ACSCONTROLLER_H_ */