#include <fsfw/health/HealthTableIF.h>

#include "OBSWConfig.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "busConf.h"
#include "commonObjects.h"
#include "devConf.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "linux/ObjectFactory.h"
#include "linux/callbacks/gpioCallbacks.h"
#include "mission/core/GenericFactory.h"

void ObjectFactory::produce(void* args) {
  ObjectFactory::setStatics();
  HealthTableIF* healthTable = nullptr;
  ObjectFactory::produceGenericObjects(&healthTable);

  LinuxLibgpioIF* gpioComIF = nullptr;
  UartComIF* uartComIF = nullptr;
  SpiComIF* spiMainComIF = nullptr;
  I2cComIF* i2cComIF = nullptr;
  PowerSwitchIF* pwrSwitcher = nullptr;
  SpiComIF* spiRwComIF = nullptr;
  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiMainComIF, &i2cComIF, &spiRwComIF);
  createTmpComponents();
  new CoreController(objects::CORE_CONTROLLER);

  gpioCallbacks::disableAllDecoder(gpioComIF);
  createPcduComponents(gpioComIF, &pwrSwitcher);
  createRadSensorComponent(gpioComIF);
  createSunSensorComponents(gpioComIF, spiMainComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);

#if OBSW_ADD_ACS_BOARD == 1
  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
#endif
  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable);
  createSolarArrayDeploymentComponents();
  createPlPcduComponents(gpioComIF, spiMainComIF, pwrSwitcher);
#if OBSW_ADD_SYRLINKS == 1
#if OBSW_Q7S_EM == 1
  createSyrlinksComponents(nullptr);
#else
  createSyrlinksComponents(pwrSwitcher);
#endif /* OBSW_Q7S_EM == 1 */
#endif /* OBSW_ADD_SYRLINKS == 1 */
  createRtdComponents(q7s::SPI_DEFAULT_DEV, gpioComIF, pwrSwitcher, spiMainComIF);
  createPayloadComponents(gpioComIF);

#if OBSW_ADD_MGT == 1
  createImtqComponents(pwrSwitcher);
#endif
  createReactionWheelComponents(gpioComIF, pwrSwitcher);

#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
  createBpxBatteryComponent();
#endif

#if OBSW_ADD_STAR_TRACKER == 1
  createStrComponents(pwrSwitcher);
#endif /* OBSW_ADD_STAR_TRACKER == 1 */
#if OBSW_USE_CCSDS_IP_CORE == 1
  createCcsdsComponents(gpioComIF);
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */
  /* Test Task */
#if OBSW_ADD_TEST_CODE == 1
  createTestComponents(gpioComIF);
#endif /* OBSW_ADD_TEST_CODE == 1 */

  createMiscComponents();
}

void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
  using namespace gpio;
  // GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
  GpioCookie* gpioCookiePtmeIp = new GpioCookie;
  GpiodRegularByLineName* gpio = nullptr;
  std::stringstream consumer;
  consumer.str("PAPB VC0");
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
  consumer.str("PAPB VC0");
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
  consumer.str("PAPB VC 1");
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
  consumer.str("");
  consumer.str("PAPB VC 1");
  gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
  consumer.str("");
  consumer.str("PAPB VC 2");
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
  consumer.str("");
  consumer.str("PAPB VC 2");
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
  consumer.str("");
  consumer.str("PAPB VC 3");
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
  consumer.str("");
  consumer.str("PAPB VC 3");
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);

  gpioChecker(gpioComIF->addGpios(gpioCookiePtmeIp), "PTME PAPB VCs");

  // Creating virtual channel interfaces
  VcInterfaceIF* vc0 =
      new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
                          q7s::uiomapids::PTME_VC0);
  VcInterfaceIF* vc1 =
      new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
                          q7s::uiomapids::PTME_VC1);
  VcInterfaceIF* vc2 =
      new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
                          q7s::uiomapids::PTME_VC2);
  VcInterfaceIF* vc3 =
      new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
                          q7s::uiomapids::PTME_VC3);

  // Creating ptme object and adding virtual channel interfaces
  Ptme* ptme = new Ptme(objects::PTME);
  ptme->addVcInterface(ccsds::VC0, vc0);
  ptme->addVcInterface(ccsds::VC1, vc1);
  ptme->addVcInterface(ccsds::VC2, vc2);
  ptme->addVcInterface(ccsds::VC3, vc3);

  AxiPtmeConfig* axiPtmeConfig =
      new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
  PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
#if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
  // Set to high value when not sending via syrlinks
  static const uint32_t TRANSMITTER_TIMEOUT = 86400000;  // 1 day
#else
  static const uint32_t TRANSMITTER_TIMEOUT = 900000;  // 15 minutes
#endif
  CCSDSHandler* ccsdsHandler = new CCSDSHandler(
      objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
      gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA, TRANSMITTER_TIMEOUT);

  VirtualChannel* vc = nullptr;
  vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE, objects::CCSDS_HANDLER);
  ccsdsHandler->addVirtualChannel(ccsds::VC0, vc);
  vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE, objects::CCSDS_HANDLER);
  ccsdsHandler->addVirtualChannel(ccsds::VC1, vc);
  vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE, objects::CCSDS_HANDLER);
  ccsdsHandler->addVirtualChannel(ccsds::VC2, vc);
  vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE, objects::CCSDS_HANDLER);
  ccsdsHandler->addVirtualChannel(ccsds::VC3, vc);

  GpioCookie* gpioCookiePdec = new GpioCookie;
  consumer.str("");
  consumer << "0x" << std::hex << objects::PDEC_HANDLER;
  // GPIO also low after linux boot (specified by device-tree)
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), Direction::OUT,
                                    Levels::LOW);
  gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);

  gpioChecker(gpioComIF->addGpios(gpioCookiePdec), "PDEC");

  new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
                  q7s::UIO_PDEC_CONFIG_MEMORY, q7s::UIO_PDEC_RAM, q7s::UIO_PDEC_REGISTERS);

  GpioCookie* gpioRS485Chip = new GpioCookie;
  gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
                                    Direction::OUT, Levels::LOW);
  gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_CLOCK, gpio);
  gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver",
                                    Direction::OUT, Levels::LOW);
  gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_DATA, gpio);

  // Default configuration enables RX channels (RXEN = LOW)
  gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_CLOCK, "RS485 Transceiver",
                                    Direction::OUT, Levels::LOW);
  gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_CLOCK, gpio);
  gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
                                    Direction::OUT, Levels::LOW);
  gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);

  gpioChecker(gpioComIF->addGpios(gpioRS485Chip), "RS485 Transceiver");
}