#ifndef MISSION_SYSTEM_ACSBOARDASSEMBLY_H_
#define MISSION_SYSTEM_ACSBOARDASSEMBLY_H_

#include <fsfw/devicehandlers/AssemblyBase.h>
#include <fsfw/objectmanager/frameworkObjects.h>

struct AcsBoardHelper {
  AcsBoardHelper(object_id_t mgm0Id, object_id_t mgm1Id, object_id_t mgm2Id, object_id_t mgm3Id,
                 object_id_t gyro0Id, object_id_t gyro1Id, object_id_t gyro2Id, object_id_t gyro3Id,
                 object_id_t gpsId)
      : mgm0Lis3IdSideA(mgm0Id),
        mgm1Rm3100IdSideA(mgm1Id),
        mgm2Lis3IdSideB(mgm2Id),
        mgm3Rm3100IdSideB(mgm3Id),
        gyro0AdisIdSideA(gyro0Id),
        gyro1L3gIdSideA(gyro1Id),
        gyro2AdisIdSideB(gyro2Id),
        gyro3L3gIdSideB(gyro3Id) {}

  object_id_t mgm0Lis3IdSideA = objects::NO_OBJECT;
  object_id_t mgm1Rm3100IdSideA = objects::NO_OBJECT;
  object_id_t mgm2Lis3IdSideB = objects::NO_OBJECT;
  object_id_t mgm3Rm3100IdSideB = objects::NO_OBJECT;

  object_id_t gyro0AdisIdSideA = objects::NO_OBJECT;
  object_id_t gyro1L3gIdSideA = objects::NO_OBJECT;
  object_id_t gyro2AdisIdSideB = objects::NO_OBJECT;
  object_id_t gyro3L3gIdSideB = objects::NO_OBJECT;

  object_id_t gpsId = objects::NO_OBJECT;

  Mode_t gyro0SideAMode = HasModesIF::MODE_OFF;
  Mode_t gyro1SideAMode = HasModesIF::MODE_OFF;
  Mode_t gyro2SideBMode = HasModesIF::MODE_OFF;
  Mode_t gyro3SideBMode = HasModesIF::MODE_OFF;
  Mode_t mgm0SideAMode = HasModesIF::MODE_OFF;
  Mode_t mgm1SideAMode = HasModesIF::MODE_OFF;
  Mode_t mgm2SideBMode = HasModesIF::MODE_OFF;
  Mode_t mgm3SideBMode = HasModesIF::MODE_OFF;
  Mode_t gpsMode = HasModesIF::MODE_OFF;
};

enum ModeTableIdx : uint8_t {
  MGM_0_A = 0,
  MGM_1_A = 1,
  MGM_2_B = 2,
  MGM_3_B = 3,
  GYRO_0_A = 4,
  GYRO_1_A = 5,
  GYRO_2_B = 6,
  GYRO_3_B = 7,
  GPS = 8
};

static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;

class PowerSwitchIF;

class AcsBoardAssembly : public AssemblyBase {
 public:
  AcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* switcher,
                   AcsBoardHelper helper);

 private:
  enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING };

  States state = States::IDLE;
  Mode_t currentMode = MODE_OFF;
  Submode_t currentSubmode = A_SIDE;
  PowerSwitchIF* switcher = nullptr;

  AcsBoardHelper helper;
  void initModeTableEntry(object_id_t id, ModeListEntry& entry);

  ReturnValue_t initialize() override;
  FixedArrayList<ModeListEntry, NUMBER_DEVICES_MODE_TABLE> modeTable;

  static constexpr Submode_t A_SIDE = 0;
  static constexpr Submode_t B_SIDE = 1;
  static constexpr Submode_t DUAL_MODE = 2;

  // AssemblyBase overrides
  ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
  ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;

  /**
   * Check whether it makes sense to send mode commands to the device
   * @param object
   * @param mode
   * @return
   */
  bool isUseable(object_id_t object, Mode_t mode);
  ReturnValue_t handleNormalModeCmd(Submode_t submode);
  void powerStateMachine(Submode_t submode);
};

#endif /* MISSION_SYSTEM_ACSBOARDASSEMBLY_H_ */