#include "system.h"

#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/subsystem/Subsystem.h>
#include <mission/acsDefs.h>

#include "acsModeTree.h"
#include "comModeTree.h"
#include "eive/objects.h"
#include "mission/comDefs.h"
#include "payloadModeTree.h"
#include "tcsModeTree.h"
#include "util.h"

namespace {
// Alias for checker function
const auto check = subsystem::checkInsert;

void buildSafeSequence(Subsystem& ss, ModeListEntry& eh);
void buildIdleSequence(Subsystem& ss, ModeListEntry& eh);
}  // namespace

static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;

void satsystem::init() {
  auto& acsSubsystem = acs::init();
  acsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
  auto& payloadSubsystem = pl::init();
  payloadSubsystem.connectModeTreeParent(EIVE_SYSTEM);
  auto& tcsSubsystem = tcs::init();
  tcsSubsystem.connectModeTreeParent(EIVE_SYSTEM);
  auto& comSubsystem = com::init();
  comSubsystem.connectModeTreeParent(EIVE_SYSTEM);
  ModeListEntry entry;
  buildSafeSequence(EIVE_SYSTEM, entry);
  buildIdleSequence(EIVE_SYSTEM, entry);
  EIVE_SYSTEM.setInitialMode(HasModesIF::MODE_OFF, 0);
}

EiveSystem satsystem::EIVE_SYSTEM = EiveSystem(objects::EIVE_SYSTEM, 12, 24);

auto EIVE_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_SAFE_TGT =
    std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_SAFE_TRANS_0 =
    std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_SAFE_TRANS_1 =
    std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 5>());

auto EIVE_SEQUENCE_IDLE =
    std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_IDLE_TGT =
    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_IDLE_TRANS_0 =
    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto EIVE_TABLE_IDLE_TRANS_1 =
    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 5>());

namespace {

void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::buildSafeSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
                 bool allowAllSubmodes = false) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    if (allowAllSubmodes) {
      eh.allowAllSubmodes();
    }
    check(table.insert(eh), ctxc);
  };
  // Insert Helper Sequence
  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
                 bool checkSuccess) {
    eh.setTableId(tableId);
    eh.setWaitSeconds(waitSeconds);
    eh.setCheckSuccess(checkSuccess);
    check(sequence.insert(eh), ctxc);
  };

  // Do no track ACS for now because it might jump to detumble mode and back to safe as part of
  // normal operations.
  // UPDATE: This could be re-enabled as soon as the detumble mode is a submode of
  // ACS CTRL safe mode.
  // iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TGT.second, true);
  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TGT.second);
  check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TGT.first, &EIVE_TABLE_SAFE_TGT.second)), ctxc);

  // Build SAFE transition 0. Two transitions to reduce number of consecutive events and because
  // consecutive commanding of TCS and ACS can lead to SPI issues.
  iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_SAFE_TRANS_0.second);
  iht(objects::COM_SUBSYSTEM, com::RX_ONLY, 0, EIVE_TABLE_SAFE_TRANS_0.second);
  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_SAFE_TRANS_0.second);
  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::SAFE, 0, EIVE_TABLE_SAFE_TRANS_0.second, true);
  check(ss.addTable(TableEntry(EIVE_TABLE_SAFE_TRANS_0.first, &EIVE_TABLE_SAFE_TRANS_0.second)),
        ctxc);

  // Build Safe sequence
  ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TGT.first, 0, false);
  ihs(EIVE_SEQUENCE_SAFE.second, EIVE_TABLE_SAFE_TRANS_0.first, 0, false);
  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_SAFE.first, &EIVE_SEQUENCE_SAFE.second,
                                     EIVE_SEQUENCE_SAFE.first)),
        ctxc);
}

void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::buildIdleSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    check(table.insert(eh), ctxc);
  };
  // Insert Helper Sequence
  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
                 bool checkSuccess) {
    eh.setTableId(tableId);
    eh.setWaitSeconds(waitSeconds);
    eh.setCheckSuccess(checkSuccess);
    check(sequence.insert(eh), ctxc);
  };

  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TGT.second);
  check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TGT.first, &EIVE_TABLE_IDLE_TGT.second)), ctxc);

  // Build IDLE transition 0
  iht(objects::TCS_SUBSYSTEM, NML, 0, EIVE_TABLE_IDLE_TRANS_0.second);
  iht(objects::PL_SUBSYSTEM, OFF, 0, EIVE_TABLE_IDLE_TRANS_0.second);
  iht(objects::ACS_SUBSYSTEM, acs::AcsMode::PTG_IDLE, 0, EIVE_TABLE_IDLE_TRANS_0.second);
  check(ss.addTable(TableEntry(EIVE_TABLE_IDLE_TRANS_0.first, &EIVE_TABLE_IDLE_TRANS_0.second)),
        ctxc);

  // Build IDLE sequence
  ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TGT.first, 0, false);
  ihs(EIVE_SEQUENCE_IDLE.second, EIVE_TABLE_IDLE_TRANS_0.first, 0, false);
  check(ss.addSequence(SequenceEntry(EIVE_SEQUENCE_IDLE.first, &EIVE_SEQUENCE_IDLE.second,
                                     EIVE_SEQUENCE_SAFE.first)),
        ctxc);
}

}  // namespace