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

#include <mission/utility/InitMission.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>

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

    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);

    }

    /* 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);
    }

    /* UDP bridge */
    PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
            "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
    result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("UDP_BRIDGE", objects::UDP_BRIDGE);
    }
    PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
            "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
    result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("UDP_POLLING", objects::UDP_POLLING_TASK);
    }

#if 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

    /* 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);
    }

    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);
    }

    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);
    }

    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);
    }

    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);
    }

#if BOARD_TE0720 == 0
    //TODO: Add handling of missed deadlines
    /* Polling Sequence Table Default */
#if Q7S_ADD_SPI_TEST == 0
    FixedTimeslotTaskIF* spiPst = factory->createFixedTimeslotTask(
            "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
            missedDeadlineFunc);
    result = pst::pstSpi(spiPst);
    if (result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
    }
#endif

    FixedTimeslotTaskIF* uartPst = factory->createFixedTimeslotTask(
            "UART_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
    result = pst::pstUart(uartPst);
    if (result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
    }
    FixedTimeslotTaskIF* gpioPst = factory->createFixedTimeslotTask(
            "GPIO_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, missedDeadlineFunc);
    result = pst::pstGpio(gpioPst);
    if (result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
    }
    FixedTimeslotTaskIF* i2cPst = factory->createFixedTimeslotTask(
            "I2C_PST", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0, 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;
    }

#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;
    }
#endif /* BOARD_TE7020 == 1 */

#if OBSW_ADD_TEST_CODE == 1
    PeriodicTaskIF* testTask = factory->createPeriodicTask(
            "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);
    result = testTask->addComponent(objects::TEST_TASK);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
    }

#if Q7S_ADD_SPI_TEST == 1
    result = testTask->addComponent(objects::SPI_TEST);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
    }
#endif
#endif /* OBSW_ADD_TEST_CODE == 1 */
#if BOARD_TE0720 == 1 && TEST_LIBGPIOD == 1
    result = testTask->addComponent(objects::LIBGPIOD_TEST);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
    }
#endif /* TE0720 == 1 && TEST_LIBGPIOD == 1 */

    sif::info << "Starting tasks.." << std::endl;
    tmTcDistributor->startTask();
    udpBridgeTask->startTask();
    udpPollingTask->startTask();
    coreController->startTask();

#if BOARD_TE0720 == 0
    uartPst->startTask();
    gpioPst->startTask();
    i2cPst->startTask();
#if Q7S_ADD_SPI_TEST == 0
    gomSpacePstTask->startTask();
    spiPst->startTask();
#endif /* Q7S_ADD_SPI_TEST == 0 */

#elif BOARD_TE0720 == 1 && Q7S_ADD_SPI_TEST == 0
    pollingSequenceTaskTE0720->startTask();
#endif

    pusVerification->startTask();
    pusEvents->startTask();
    pusHighPrio->startTask();
    pusMedPrio->startTask();
    pusLowPrio->startTask();

#if OBSW_ADD_TEST_CODE == 1
    testTask->startTask();
#endif

#if TEST_CCSDS_BRIDGE == 1
    ptmeTestTask->startTask();
#endif
    sif::info << "Tasks started.." << std::endl;
}