#include "ObjectFactory.h"

#include <devConf.h>
#include <mission/devices/GPSHyperionHandler.h>

#include "OBSWConfig.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "linux/boardtest/LibgpiodTest.h"
#include "linux/boardtest/SpiTestClass.h"
#include "linux/boardtest/UartTestClass.h"
#include "mission/core/GenericFactory.h"
#include "mission/devices/GyroADIS1650XHandler.h"
#include "mission/utility/TmFunnel.h"
#include "objects/systemObjectList.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"

/* UDP server includes */
#if OBSW_USE_TMTC_TCP_BRIDGE == 1
#include <fsfw/src/fsfw/osal/common/TcpTmTcBridge.h>
#include <fsfw/src/fsfw/osal/common/TcpTmTcServer.h>
#else
#include "fsfw/osal/common/UdpTcPollingTask.h"
#include "fsfw/osal/common/UdpTmTcBridge.h"
#endif

#include <fsfw_hal/linux/uart/UartComIF.h>
#include <fsfw_hal/linux/uart/UartCookie.h>

#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/linux/rpi/GpioRPi.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"

void Factory::setStaticFrameworkObjectIds() {
  PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
  PusServiceBase::packetDestination = objects::TM_FUNNEL;

  CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
  CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;

  TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
  // No storage object for now.
  TmFunnel::storageDestination = objects::NO_OBJECT;

  VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
  TmPacketBase::timeStamperId = objects::TIME_STAMPER;
}

void ObjectFactory::produce(void* args) {
  Factory::setStaticFrameworkObjectIds();
  ObjectFactory::produceGenericObjects();

#if OBSW_USE_TMTC_TCP_BRIDGE == 1
  auto tmtcBridge = new TcpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
  tmtcBridge->setMaxNumberOfPacketsStored(50);
  new TcpTmTcServer(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
#else
  auto tmtcBridge = new UdpTmTcBridge(objects::TMTC_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
  tmtcBridge->setMaxNumberOfPacketsStored(50);
  new UdpTcPollingTask(objects::TMTC_POLLING_TASK, objects::TMTC_BRIDGE);
#endif

  GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);
  GpioCookie* gpioCookie = nullptr;
  static_cast<void>(gpioCookie);

  new SpiComIF(objects::SPI_COM_IF, gpioIF);

  std::string spiDev;
  SpiCookie* spiCookie = nullptr;
  static_cast<void>(spiCookie);

#if OBSW_ADD_ACS_BOARD == 1
  if (gpioCookie == nullptr) {
    gpioCookie = new GpioCookie();
  }
  // TODO: Missing pin for Gyro 2
  gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN, "MGM_0_LIS3",
                            gpio::Direction::OUT, 1);
  gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
                            "MGM_1_RM3100", gpio::Direction::OUT, 1);
  gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN, "MGM_2_LIS3",
                            gpio::Direction::OUT, 1);
  gpio::createRpiGpioConfig(gpioCookie, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
                            "MGM_3_RM3100", gpio::Direction::OUT, 1);
  gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
                            "GYRO_0_ADIS", gpio::Direction::OUT, 1);
  gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN, "GYRO_1_L3G",
                            gpio::Direction::OUT, 1);
  gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_2_ADIS_CS, gpio::GYRO_2_BCM_PIN,
                            "GYRO_2_ADIS", gpio::Direction::OUT, 1);
  gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_3_L3G_CS, gpio::GYRO_3_BCM_PIN, "GYRO_3_L3G",
                            gpio::Direction::OUT, 1);
  gpioIF->addGpios(gpioCookie);

  spiDev = "/dev/spidev0.1";
  spiCookie =
      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
                    MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
  auto mgmLis3Handler =
      new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
  mgmLis3Handler->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
  mgmLis3Handler->setToGoToNormalMode(true);
#endif

  spiCookie =
      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
  auto mgmRm3100Handler =
      new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
  mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
  mgmRm3100Handler->setToGoToNormalMode(true);
#endif

  spiCookie =
      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
                    MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
  mgmLis3Handler =
      new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
  mgmLis3Handler->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
  mgmLis3Handler->setToGoToNormalMode(true);
#endif

  spiCookie =
      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
  mgmRm3100Handler =
      new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
  mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
  mgmRm3100Handler->setToGoToNormalMode(true);
#endif

  spiCookie =
      new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
                    ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
  auto adisHandler =
      new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
  adisHandler->setStartUpImmediately();
  spiCookie =
      new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
  auto gyroL3gHandler =
      new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
  gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
  gyroL3gHandler->setToGoToNormalMode(true);
#endif

  spiCookie =
      new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
                    ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
  adisHandler =
      new GyroADIS16507Handler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
  adisHandler->setStartUpImmediately();

  spiCookie =
      new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
  gyroL3gHandler =
      new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF, spiCookie, 0);
  gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
  gyroL3gHandler->setToGoToNormalMode(true);
#endif

#endif /* RPI_TEST_ACS_BOARD == 1 */

#if OBSW_ADD_TEST_CODE == 1
  createTestTasks();
#endif /* OBSW_ADD_TEST_CODE == 1 */
}

void ObjectFactory::createTestTasks() {
  new TestTask(objects::TEST_TASK);

#if RPI_ADD_SPI_TEST == 1
  new SpiTestClass(objects::SPI_TEST, gpioIF);
#endif

#if RPI_ADD_UART_TEST == 1
  new UartTestClass(objects::UART_TEST);
#else
  new UartComIF(objects::UART_COM_IF);
#endif

#if RPI_LOOPBACK_TEST_GPIO == 1
  GpioCookie* gpioCookieLoopback = new GpioCookie();
  /* Loopback pins. Adapt according to setup */
  gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
  int bcmPinSender = 26;
  gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
  int bcmPinReader = 16;
  gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
                            gpio::Direction::OUT, 0);
  gpio::createRpiGpioConfig(gpioCookieLoopback, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
                            gpio::Direction::IN, 0);
  new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookieLoopback);
#endif /* RPI_LOOPBACK_TEST_GPIO == 1 */

#if RPI_TEST_ADIS16507 == 1
  if (gpioCookie == nullptr) {
    gpioCookie = new GpioCookie();
  }
  gpio::createRpiGpioConfig(gpioCookie, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
                            "GYRO_0_ADIS", gpio::Direction::OUT, 1);
  gpioIF->addGpios(gpioCookie);

  spiDev = "/dev/spidev0.1";
  spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
                            ADIS16507::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
                            spi::DEFAULT_ADIS16507_SPEED, nullptr, nullptr);
  auto adisGyroHandler =
      new GyroADIS16507Handler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF, spiCookie);
  adisGyroHandler->setStartUpImmediately();
#endif /* RPI_TEST_ADIS16507 == 1 */

#if RPI_TEST_GPS_HANDLER == 1
  UartCookie* uartCookie =
      new UartCookie(objects::GPS0_HANDLER, "/dev/serial0", UartModes::CANONICAL, 9600, 1024);
  uartCookie->setToFlushInput(true);
  uartCookie->setReadCycles(6);
  GPSHyperionHandler* gpsHandler =
      new GPSHyperionHandler(objects::GPS0_HANDLER, objects::UART_COM_IF, uartCookie, false);
  gpsHandler->setStartUpImmediately();
#endif
}