#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include "InitMission.h"

#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <mission/utility/InitMission.h>

#include <iostream>

#include "OBSWConfig.h"
#include "ObjectFactory.h"
#include "objects/systemObjectList.h"
#include "pollingsequence/pollingSequenceFactory.h"

ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR");

ObjectManagerIF* objectManager = nullptr;

void initmission::initMission() {
  sif::info << "Building global objects.." << std::endl;
  /* Instantiate global object manager and also create all objects */
  ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
  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

  /* 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) {
    sif::error << "Object add component failed" << std::endl;
  }
  result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "Object add component failed" << std::endl;
  }
  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "Object add component failed" << std::endl;
  }

  /* UDP bridge */
  PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
      "TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "Add component TMTC Bridge failed" << std::endl;
  }
  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) {
    sif::error << "Add component TMTC Polling failed" << std::endl;
  }

#if OBSW_ADD_SCEX == 1
  PeriodicTaskIF* scexDevHandler = factory->createPeriodicTask(
      "SCEX_DEV", 35, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
  result = tmtcPollingTask->addComponent(objects::SCEX, DeviceHandlerIF::PERFORM_OPERATION);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("SCEX_DEV", objects::SCEX);
  }
  result = tmtcPollingTask->addComponent(objects::SCEX, DeviceHandlerIF::SEND_WRITE);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("SCEX_DEV", objects::SCEX);
  }
  result = tmtcPollingTask->addComponent(objects::SCEX, DeviceHandlerIF::GET_WRITE);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("SCEX_DEV", objects::SCEX);
  }
  result = tmtcPollingTask->addComponent(objects::SCEX, DeviceHandlerIF::SEND_READ);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("SCEX_DEV", objects::SCEX);
  }
  result = tmtcPollingTask->addComponent(objects::SCEX, DeviceHandlerIF::GET_READ);
#endif

  /* PUS Services */
  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, pstTasks);
#endif /* OBSW_ADD_TEST_CODE == 1 */

  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();
  tmtcBridgeTask->startTask();
  tmtcPollingTask->startTask();

  taskStarter(pusTasks, "PUS Tasks");
#if OBSW_ADD_TEST_CODE == 1
  taskStarter(testTasks, "Test Tasks");
#endif /* OBSW_ADD_TEST_CODE == 1 */
  taskStarter(pstTasks, "PST Tasks");

#if OBSW_ADD_SCEX == 1
  scexDevHandler->startTask();
#endif
#if OBSW_ADD_TEST_PST == 1
  if (startTestPst) {
    pstTestTask->startTask();
  }
#endif /* RPI_TEST_ACS_BOARD == 1 */
  sif::info << "Tasks started.." << std::endl;
}

void initmission::createPusTasks(TaskFactory& factory,
                                 TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  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) {
    sif::error << "Object add component failed" << std::endl;
  }
  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("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS9", 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("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
  }
  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("PUS17", objects::PUS_SERVICE_17_TEST);
  }
  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("INT_ERR_RPRT", objects::INTERNAL_ERROR_REPORTER);
  }
  taskVec.push_back(pusLowPrio);
}

void initmission::createPstTasks(TaskFactory& factory,
                                 TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if OBSW_ADD_SPI_TEST_CODE == 0
  FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
      "SPI_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
  result = pst::pstSpi(spiPst);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
  }
  taskVec.push_back(spiPst);
#endif
}

void initmission::createTestTasks(TaskFactory& factory,
                                  TaskDeadlineMissedFunction missedDeadlineFunc,
                                  std::vector<PeriodicTaskIF*>& taskVec) {
  ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
  PeriodicTaskIF* testTask = factory.createPeriodicTask(
      "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, 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 /* RPI_ADD_SPI_TEST == 1 */
#if RPI_ADD_GPIO_TEST == 1
  result = testTask->addComponent(objects::LIBGPIOD_TEST);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
  }
#endif /* RPI_ADD_GPIO_TEST == 1 */
#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);
  }
  PeriodicTaskIF* scexReaderTask = factory.createPeriodicTask(
      "SCEX_UART_READER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = scexReaderTask->addComponent(objects::SCEX_UART_READER);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    initmission::printAddObjectError("SCEX_UART_READER", objects::SCEX_UART_READER);
  }
  taskVec.push_back(scexReaderTask);
#endif /* RPI_ADD_GPIO_TEST == 1 */
  taskVec.push_back(testTask);

  bool startTestPst = true;
  static_cast<void>(startTestPst);
#if OBSW_ADD_TEST_PST == 1
  FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask(
      "TEST_PST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
  result = pst::pstTest(pstTestTask);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
    startTestPst = false;
  }
#endif /* RPI_TEST_ACS_BOARD == 1 */
}