#ifndef MISSION_CONTROLLER_ACSCONTROLLER_H_
#define MISSION_CONTROLLER_ACSCONTROLLER_H_

#include <commonObjects.h>
#include <fsfw/controller/ExtendedControllerBase.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>

#include "acs/ActuatorCmd.h"
#include "acs/Guidance.h"
#include "acs/Navigation.h"
#include "acs/SensorProcessing.h"
#include "acs/control/SafeCtrl.h"
#include "acs/control/Detumble.h"
#include "acs/control/PtgCtrl.h"
#include "controllerdefinitions/AcsCtrlDefinitions.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "mission/devices/devicedefinitions/IMTQHandlerDefinitions.h"
#include "mission/devices/devicedefinitions/SusDefinitions.h"

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

  AcsController(object_id_t objectId);

  static const Submode_t SUBMODE_SAFE = 2;
  static const Submode_t SUBMODE_DETUMBLE = 3;
  static const Submode_t SUBMODE_PTG_TARGET = 4;
  static const Submode_t SUBMODE_PTG_NADIR = 5;
  static const Submode_t SUBMODE_PTG_SUN = 6;
  static const Submode_t SUBMODE_PTG_INERTIAL = 7;

 protected:

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

 private:
  AcsParameters acsParameters;
  SensorProcessing sensorProcessing;
  Navigation navigation;
  ActuatorCmd actuatorCmd;
  Guidance guidance;

  SafeCtrl safeCtrl;
  Detumble detumble;
  PtgCtrl ptgCtrl;

  uint8_t detumbleCounter;

  enum class InternalState { STARTUP, INITIAL_DELAY, READY };

  InternalState internalState = InternalState::STARTUP;

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

  // MGMs
  acsctrl::MgmDataRaw mgmData;

  MGMLIS3MDL::MgmPrimaryDataset mgm0Lis3Set =
      MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_0_LIS3_HANDLER);
  RM3100::Rm3100PrimaryDataset mgm1Rm3100Set =
      RM3100::Rm3100PrimaryDataset(objects::MGM_1_RM3100_HANDLER);
  MGMLIS3MDL::MgmPrimaryDataset mgm2Lis3Set =
      MGMLIS3MDL::MgmPrimaryDataset(objects::MGM_2_LIS3_HANDLER);
  RM3100::Rm3100PrimaryDataset mgm3Rm3100Set =
      RM3100::Rm3100PrimaryDataset(objects::MGM_3_RM3100_HANDLER);
  IMTQ::RawMtmMeasurementSet imtqMgmSet = IMTQ::RawMtmMeasurementSet(objects::IMTQ_HANDLER);

  PoolEntry<float> mgm0PoolVec = PoolEntry<float>(3);
  PoolEntry<float> mgm1PoolVec = PoolEntry<float>(3);
  PoolEntry<float> mgm2PoolVec = PoolEntry<float>(3);
  PoolEntry<float> mgm3PoolVec = PoolEntry<float>(3);
  PoolEntry<float> imtqMgmPoolVec = PoolEntry<float>(3);
  PoolEntry<uint8_t> imtqCalActStatus = PoolEntry<uint8_t>();

  void copyMgmData();

  // Sun Sensors

  acsctrl::SusDataRaw susData;

  std::array<SUS::SusDataset, 12> susSets{
      SUS::SusDataset(objects::SUS_0_N_LOC_XFYFZM_PT_XF),
      SUS::SusDataset(objects::SUS_1_N_LOC_XBYFZM_PT_XB),
      SUS::SusDataset(objects::SUS_2_N_LOC_XFYBZB_PT_YB),
      SUS::SusDataset(objects::SUS_3_N_LOC_XFYBZF_PT_YF),
      SUS::SusDataset(objects::SUS_4_N_LOC_XMYFZF_PT_ZF),
      SUS::SusDataset(objects::SUS_5_N_LOC_XFYMZB_PT_ZB),
      SUS::SusDataset(objects::SUS_6_R_LOC_XFYBZM_PT_XF),
      SUS::SusDataset(objects::SUS_7_R_LOC_XBYBZM_PT_XB),
      SUS::SusDataset(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
      SUS::SusDataset(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
      SUS::SusDataset(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
      SUS::SusDataset(objects::SUS_11_R_LOC_XBYMZB_PT_ZB),
  };

  PoolEntry<uint16_t> sus0PoolVec = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus1PoolVec = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus2PoolVec = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus3PoolVec = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus4PoolVec = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus5PoolVec = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus6PoolVec = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus7PoolVec = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus8PoolVec = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus9PoolVec = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus10PoolVec = PoolEntry<uint16_t>(6);
  PoolEntry<uint16_t> sus11PoolVec = PoolEntry<uint16_t>(6);

  void copySusData();

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

#endif /* MISSION_CONTROLLER_ACSCONTROLLER_H_ */