#include "bsp_q7s/core/InitMission.h"

#include <iostream>
#include <vector>

#include "OBSWConfig.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/platform.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 "pollingsequence/pollingSequenceFactory.h"

/* This is configured for linux without CR */
#ifdef PLATFORM_UNIX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR");
#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;
  try {
    /* Instantiate global object manager and also create all objects */
    ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
  } catch (const std::invalid_argument& e) {
    sif::error << "initmission::initMission: Object Construction failed with an "
                  "invalid argument: "
               << e.what();
    std::exit(1);
  }

  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();
  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  if (factory == nullptr) {
    /* Should never happen ! */
    return;
  }
#if OBSW_PRINT_MISSED_DEADLINES == 1
  void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else
  void (*missedDeadlineFunc)(void) = nullptr;
#endif

  PeriodicTaskIF* coreController = factory->createPeriodicTask(
      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
  result = coreController->addComponent(objects::CORE_CONTROLLER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
  }

  /* TMTC Distribution */
  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
      "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
  }
  result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
  }
  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
  }

#if OBSW_ADD_TCPIP_BRIDGE == 1
  // TMTC bridge
  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
      "TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("TMTC_BRIDGE", objects::TMTC_BRIDGE);
  }
  PeriodicTaskIF* tmtcPollingTask = factory->createPeriodicTask(
      "TMTC_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = tmtcPollingTask->addComponent(objects::TMTC_POLLING_TASK);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
  }
#endif

#if OBSW_USE_CCSDS_IP_CORE == 1
  PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
  }

  // Minimal distance between two received TCs amounts to 0.6 seconds
  // If a command has not been read before the next one arrives, the old command will be
  // overwritten by the PDEC.
  PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
      "PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
  }
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */

#if OBSW_ADD_ACS_HANDLERS == 1
  PeriodicTaskIF* acsTask = factory->createPeriodicTask(
      "ACS_CTRL", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
  result = acsTask->addComponent(objects::GPS_CONTROLLER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
  }

#endif /* OBSW_ADD_ACS_HANDLERS */

  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
  result = sysTask->addComponent(objects::ACS_BOARD_ASS);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
  }
#if OBSW_ADD_SUS_BOARD_ASS == 1
  result = sysTask->addComponent(objects::SUS_BOARD_ASS);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
  }
#endif
  result = sysTask->addComponent(objects::TCS_BOARD_ASS);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
  }

  // FS task, task interval does not matter because it runs in permanent loop, priority low
  // because it is a non-essential background task
  PeriodicTaskIF* fsTask = factory->createPeriodicTask(
      "FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
  result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
  }

#if OBSW_ADD_STAR_TRACKER == 1
  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = strHelperTask->addComponent(objects::STR_HELPER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("STR_HELPER", objects::STR_HELPER);
  }
#endif /* OBSW_ADD_STAR_TRACKER == 1 */

#if OBSW_ADD_PLOC_MPSOC == 1
  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
  }
#endif /* OBSW_ADD_PLOC_MPSOC */

#if OBSW_TEST_CCSDS_BRIDGE == 1
  PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
      "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
  }
#endif

  std::vector<PeriodicTaskIF*> pusTasks;
  createPusTasks(*factory, missedDeadlineFunc, pusTasks);
  std::vector<PeriodicTaskIF*> pstTasks;
  createPstTasks(*factory, missedDeadlineFunc, pstTasks);

#if OBSW_ADD_TEST_CODE == 1
  std::vector<PeriodicTaskIF*> testTasks;
  createTestTasks(*factory, missedDeadlineFunc, testTasks);
#endif

  auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
    for (const auto& task : taskVector) {
      if (task != nullptr) {
        task->startTask();
      } else {
        sif::error << "Task in vector " << name << " is invalid!" << std::endl;
      }
    }
  };

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

#if OBSW_ADD_TCPIP_BRIDGE == 1
  tmtcBridgeTask->startTask();
  tmtcPollingTask->startTask();
#endif

#if OBSW_USE_CCSDS_IP_CORE == 1
  ccsdsHandlerTask->startTask();
  pdecHandlerTask->startTask();
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */

  coreController->startTask();

  taskStarter(pstTasks, "PST task vector");
  taskStarter(pusTasks, "PUS task vector");
#if OBSW_ADD_TEST_CODE == 1
  taskStarter(testTasks, "Test task vector");
#endif

#if OBSW_TEST_CCSDS_BRIDGE == 1
  ptmeTestTask->startTask();
#endif

  fsTask->startTask();
#if OBSW_ADD_STAR_TRACKER == 1
  strHelperTask->startTask();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */

#if OBSW_ADD_ACS_HANDLERS == 1
  acsTask->startTask();
#endif
  sysTask->startTask();

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

void initmission::createPstTasks(TaskFactory& factory,
                                 TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  /* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0
  FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
      "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
  result = pst::pstSpi(spiPst);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "InitMission::initTasks: SPI PST is empty" << std::endl;
    } else {
      sif::error << "InitMission::initTasks: Creating SPI PST failed!" << std::endl;
    }
  } else {
    taskVec.push_back(spiPst);
  }
#endif

  FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
      "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
  result = pst::pstUart(uartPst);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "InitMission::initTasks: UART PST is empty" << std::endl;
    } else {
      sif::error << "InitMission::initTasks: Creating UART PST failed!" << std::endl;
    }
  } else {
    taskVec.push_back(uartPst);
  }

  FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
      "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
  result = pst::pstGpio(gpioPst);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "InitMission::initTasks: GPIO PST is empty" << std::endl;
    } else {
      sif::error << "InitMission::initTasks: Creating GPIO PST failed!" << std::endl;
    }
  } else {
    taskVec.push_back(gpioPst);
  }
#if OBSW_ADD_I2C_TEST_CODE == 0
  FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
      "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
  result = pst::pstI2c(i2cPst);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "InitMission::initTasks: I2C PST is empty" << std::endl;
    } else {
      sif::error << "InitMission::initTasks: Creating I2C PST failed!" << std::endl;
    }
  } else {
    taskVec.push_back(i2cPst);
  }
#endif

#if OBSW_ADD_GOMSPACE_PCDU == 1
  FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
      "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
  result = pst::pstGompaceCan(gomSpacePstTask);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
    }
  }
  taskVec.push_back(gomSpacePstTask);
#endif
}

void initmission::createPusTasks(TaskFactory& factory,
                                 TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  /* 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) {
    initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
  }
  taskVec.push_back(pusVerification);

  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
  }
  result = pusEvents->addComponent(objects::EVENT_MANAGER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
  }
  taskVec.push_back(pusEvents);

  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("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
  }
  taskVec.push_back(pusHighPrio);

  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("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "Object add component failed" << std::endl;
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
  }
  taskVec.push_back(pusMedPrio);

  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("PUS_17", objects::PUS_SERVICE_17_TEST);
  }
  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
  }
  taskVec.push_back(pusLowPrio);
}

void initmission::createTestTasks(TaskFactory& factory,
                                  TaskDeadlineMissedFunction missedDeadlineFunc,
                                  std::vector<PeriodicTaskIF*>& taskVec) {
#if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  static_cast<void>(result);  // supress warning in case it is not used

  PeriodicTaskIF* testTask = factory.createPeriodicTask(
      "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);

  result = testTask->addComponent(objects::TEST_TASK);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
  }

#if OBSW_ADD_SPI_TEST_CODE == 1
  result = testTask->addComponent(objects::SPI_TEST);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
  }
#endif
#if OBSW_ADD_I2C_TEST_CODE == 1
  result = testTask->addComponent(objects::I2C_TEST);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("I2C_TEST", objects::I2C_TEST);
  }
#endif
#if OBSW_ADD_UART_TEST_CODE == 1
  result = testTask->addComponent(objects::UART_TEST);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
  }
#endif

  taskVec.push_back(testTask);

#endif  // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
}

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 **/