#include "InitMission.h"
#include "ObjectFactory.h"
#include "OBSWConfig.h"
#include "pollingsequence/pollingSequenceFactory.h"

#include "mission/utility/InitMission.h"

#include "fsfw/platform.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"

#include <iostream>
#include <vector>

/* This is configured for linux without CR */
#ifdef PLATFORM_UNIX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR");
#else
ServiceInterfaceStream sif::debug("DEBUG", true);
ServiceInterfaceStream sif::info("INFO", true);
ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif

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

#if BOARD_TE0720 == 0
    PeriodicTaskIF* coreController = factory->createPeriodicTask(
            "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
    result = coreController->addComponent(objects::CORE_CONTROLLER);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
    }
#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) {
        initmission::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
    }
    result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
    }
    result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
    }

#if OBSW_ADD_TCPIP_BRIDGE == 1
    // TMTC bridge
    PeriodicTaskIF* tmtcBridgeTask = factory->createPeriodicTask(
            "TCPIP_TMTC_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
    result = tmtcBridgeTask->addComponent(objects::TMTC_BRIDGE);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("UDP_BRIDGE", objects::TMTC_BRIDGE);
    }
    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) {
        initmission::printAddObjectError("UDP_POLLING", objects::TMTC_POLLING_TASK);
    }
#endif

#if OBSW_USE_CCSDS_IP_CORE == 1
    PeriodicTaskIF* ccsdsHandlerTask = factory->createPeriodicTask(
            "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
    result = ccsdsHandlerTask->addComponent(objects::CCSDS_HANDLER);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
    }

    // Minimal distance between two received TCs amounts to 0.6 seconds
    // If a command has not been read before the next one arrives, the old command will be
    // overwritten by the PDEC.
    PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
            "PDEC_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
    result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
    }
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */

# if BOARD_TE0720 == 0
    // FS task, task interval does not matter because it runs in permanent loop, priority low
    // because it is a non-essential background task
    PeriodicTaskIF* fsTask = factory->createPeriodicTask(
            "FILE_SYSTEM_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
    result = fsTask->addComponent(objects::FILE_SYSTEM_HANDLER);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::FILE_SYSTEM_HANDLER);
    }

    PeriodicTaskIF* strImgLoaderTask = factory->createPeriodicTask(
            "FILE_SYSTEM_TASK", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
    result = strImgLoaderTask->addComponent(objects::STR_HELPER);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("FILE_SYSTEM_TASK", objects::STR_HELPER);
    }
#endif /* BOARD_TE0720 */

#if OBSW_TEST_CCSDS_BRIDGE == 1
    PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
            "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
    result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
    }
#endif

    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, testTasks);
#endif

    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();

#if OBSW_ADD_TCPIP_BRIDGE == 1
    tmtcBridgeTask->startTask();
    tmtcPollingTask->startTask();
#endif

#if OBSW_USE_CCSDS_IP_CORE == 1
    ccsdsHandlerTask->startTask();
    pdecHandlerTask->startTask();
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */

#if BOARD_TE0720 == 0
    coreController->startTask();
#endif

    taskStarter(pstTasks, "PST task vector");
    taskStarter(pusTasks, "PUS task vector");
#if OBSW_ADD_TEST_CODE == 1
    taskStarter(testTasks, "Test task vector");
#endif

#if OBSW_TEST_CCSDS_BRIDGE == 1
    ptmeTestTask->startTask();
#endif

#if BOARD_TE0720 == 0
    fsTask->startTask();
    strImgLoaderTask->startTask();
#endif

    sif::info << "Tasks started.." << std::endl;
}

void initmission::createPstTasks(TaskFactory& factory,
        TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if BOARD_TE0720 == 0
    /* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0
    FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
            "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5,
            missedDeadlineFunc);
    result = pst::pstSpi(spiPst);
    if (result != HasReturnvaluesIF::RETURN_OK) {
        if(result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
            sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
        }
    }
    else {
        taskVec.push_back(spiPst);
    }
#endif

    FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
            "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
    result = pst::pstUart(uartPst);
    if (result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
    }
    taskVec.push_back(uartPst);
    FixedTimeslotTaskIF* gpioPst = factory.createFixedTimeslotTask(
            "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
    result = pst::pstGpio(gpioPst);
    if (result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
    }
    taskVec.push_back(gpioPst);
    FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
            "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
    result = pst::pstI2c(i2cPst);
    if (result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
    }

    FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
            "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
    result = pst::pstGompaceCan(gomSpacePstTask);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "InitMission::initTasks: GomSpace PST initialization failed!" << std::endl;
    }
    taskVec.push_back(gomSpacePstTask);
#else /* BOARD_TE7020 == 0 */
    FixedTimeslotTaskIF * pollingSequenceTaskTE0720 = factory.createFixedTimeslotTask(
            "PST_TASK_TE0720", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE * 8, 3.0,
            missedDeadlineFunc);
    result = pst::pollingSequenceTE0720(pollingSequenceTaskTE0720);
    if (result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "InitMission::initTasks: Creating TE0720 PST failed!" << std::endl;
    }
    taskVec.push_back(pollingSequenceTaskTE0720);
#endif /* BOARD_TE7020 == 1 */
}

void initmission::createPusTasks(TaskFactory &factory,
        TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
    /* PUS Services */
    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) {
        initmission::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
    }
    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("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
    }
    result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS_9", 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("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
    }
    result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
    if(result!=HasReturnvaluesIF::RETURN_OK){
        sif::error << "Object add component failed" << std::endl;
    }
    result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
    }
    result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
    }
    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("PUS_17", objects::PUS_SERVICE_17_TEST);
    }
    result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
    }
    taskVec.push_back(pusLowPrio);
}

void initmission::createTestTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
        std::vector<PeriodicTaskIF*>& taskVec) {
#if OBSW_ADD_TEST_TASK == 1 || OBSW_ADD_SPI_TEST_CODE == 1 || (BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1)
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#endif
    PeriodicTaskIF* testTask = factory.createPeriodicTask(
            "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
#if OBSW_ADD_TEST_TASK == 1
    result = testTask->addComponent(objects::TEST_TASK);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
    }
#endif /* OBSW_ADD_TEST_TASK == 1 */

#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
#if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
    result = testTask->addComponent(objects::LIBGPIOD_TEST);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
    }
#endif /* BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1 */
    taskVec.push_back(testTask);
}