#include <commonObjects.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>

#include "acsModeTree.h"
#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
#include <fsfw/subsystem/modes/ModeDefinitions.h>
#include <fsfw/subsystem/Subsystem.h>
#include <fsfw/modes/HasModesIF.h>

FixedArrayList<ModeListEntry, 2> ACS_SEQUENCE_OFF = FixedArrayList<ModeListEntry, 2>();
FixedArrayList<ModeListEntry, 0> ACS_TABLE_OFF_TGT = FixedArrayList<ModeListEntry, 0>();
FixedArrayList<ModeListEntry, 6> ACS_TABLE_OFF_TRANS = FixedArrayList<ModeListEntry, 6>();

static constexpr Mode_t ACS_SEQUENCE_OFF_ID = acs::CtrlModes::OFF;
static constexpr Mode_t ACS_TABLE_OFF_TGT_ID = (acs::CtrlModes::OFF << 8) | 1;
static constexpr Mode_t ACS_TABLE_OFF_TRANS_ID = (acs::CtrlModes::OFF << 8) | 2;

FixedArrayList<ModeListEntry, 2> ACS_SEQUENCE_DETUMBLE = FixedArrayList<ModeListEntry, 2>();
FixedArrayList<ModeListEntry, 3> ACS_TABLE_DETUMBLE_TGT = FixedArrayList<ModeListEntry, 3>();
FixedArrayList<ModeListEntry, 5> ACS_TABLE_DETUMBLE_TRANS_0 = FixedArrayList<ModeListEntry, 5>();
FixedArrayList<ModeListEntry, 1> ACS_TABLE_DETUMBLE_TRANS_1 = FixedArrayList<ModeListEntry, 1>();

static constexpr Mode_t ACS_SEQUENCE_DETUMBLE_ID = acs::CtrlModes::DETUMBLE;
static constexpr Mode_t ACS_TABLE_DETUMBLE_TGT_ID = (acs::CtrlModes::DETUMBLE << 8) | 1;
static constexpr Mode_t ACS_TABLE_DETUMBLE_TRANS_0_ID = (acs::CtrlModes::DETUMBLE << 8) | 2;
static constexpr Mode_t ACS_TABLE_DETUMBLE_TRANS_1_ID = (acs::CtrlModes::DETUMBLE << 8) | 3;

// Alias for checker function
const auto CHK = satsystem::checkInsert;
static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;

void satsystem::acsSubsystemInit() {
  ModeListEntry entry;
  Subsystem *acsSubsystem = new Subsystem(objects::ACS_SUBSYSTEM, objects::EIVE_SYSTEM, 20, 20);
  buildOffSequence(acsSubsystem, entry);
  buildDetumbleSequence(acsSubsystem, entry);
  acsSubsystem->setInitialMode(HasModesIF::MODE_OFF);
}

void satsystem::buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
  std::string context = "satsystem::buildOffSequence";
  auto ctxc = context.c_str();
  // Build OFF target
  ss->addTable(&ACS_TABLE_OFF_TGT, ACS_TABLE_OFF_TGT_ID, false, true);

  // Build OFF transition
  eh.setObject(objects::ACS_CONTROLLER);
  eh.setMode(OFF);
  eh.setSubmode(0);
  CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);

  eh.setObject(objects::IMTQ_HANDLER);
  eh.setMode(OFF);
  eh.setSubmode(0);
  CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);

  eh.setObject(objects::STAR_TRACKER);
  eh.setMode(OFF);
  eh.setSubmode(0);
  CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);

  eh.setObject(objects::ACS_BOARD_ASS);
  eh.setMode(OFF);
  eh.setSubmode(0);
  CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);

  eh.setObject(objects::SUS_BOARD_ASS);
  eh.setMode(OFF);
  eh.setSubmode(0);
  CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);

  eh.setObject(objects::RW_ASS);
  eh.setMode(OFF);
  eh.setSubmode(0);
  CHK(ACS_TABLE_OFF_TRANS.insert(eh), ctxc);

  ss->addTable(&ACS_TABLE_OFF_TRANS, ACS_TABLE_OFF_TRANS_ID, false, true);

  // Build OFF sequence
  eh.setTableId(ACS_TABLE_OFF_TGT_ID);
  eh.setWaitSeconds(0);
  eh.setCheckSuccess(false);
  CHK(ACS_SEQUENCE_OFF.insert(eh), ctxc);

  eh.setTableId(ACS_TABLE_OFF_TRANS_ID);
  eh.setWaitSeconds(0);
  eh.setCheckSuccess(false);
  CHK(ACS_SEQUENCE_OFF.insert(eh), ctxc);

  ss->addSequence(&ACS_SEQUENCE_OFF, ACS_SEQUENCE_OFF_ID, ACS_SEQUENCE_OFF_ID, false, true);
}

void satsystem::buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {

  std::string context = "satsystem::buildDetumbleSequence";
  auto ctxc = context.c_str();
  // Build DETUMBLE target
  eh.setObject(objects::ACS_CONTROLLER);
  eh.setMode(acs::CtrlModes::DETUMBLE);
  eh.setSubmode(0);
  CHK(ACS_TABLE_DETUMBLE_TGT.insert(eh), ctxc);

  eh.setObject(objects::IMTQ_HANDLER);
  eh.setMode(NML);
  eh.setSubmode(0);
  CHK(ACS_TABLE_DETUMBLE_TGT.insert(eh), ctxc);

  eh.setObject(objects::SUS_BOARD_ASS);
  eh.setMode(NML);
  eh.setSubmode(0);
  CHK(ACS_TABLE_DETUMBLE_TGT.insert(eh), ctxc);

  eh.setObject(objects::ACS_BOARD_ASS);
  eh.setMode(NML);
  eh.setSubmode(0);
  CHK(ACS_TABLE_DETUMBLE_TGT.insert(eh), ctxc);

  ss->addTable(&ACS_TABLE_DETUMBLE_TGT, ACS_TABLE_DETUMBLE_TGT_ID, false, true);

  // Build DETUMBLE transition 0

  eh.setObject(objects::IMTQ_HANDLER);
  eh.setMode(NML);
  eh.setSubmode(0);
  CHK(ACS_TABLE_DETUMBLE_TRANS_0.insert(eh), ctxc);

  eh.setObject(objects::STAR_TRACKER);
  eh.setMode(OFF);
  eh.setSubmode(0);
  CHK(ACS_TABLE_DETUMBLE_TRANS_0.insert(eh), ctxc);

  eh.setObject(objects::ACS_BOARD_ASS);
  eh.setMode(NML);
  eh.setSubmode(0);
  CHK(ACS_TABLE_DETUMBLE_TRANS_0.insert(eh), ctxc);

  eh.setObject(objects::SUS_BOARD_ASS);
  eh.setMode(NML);
  eh.setSubmode(0);
  CHK(ACS_TABLE_DETUMBLE_TRANS_0.insert(eh), ctxc);

  eh.setObject(objects::RW_ASS);
  eh.setMode(OFF);
  eh.setSubmode(0);
  CHK(ACS_TABLE_DETUMBLE_TRANS_0.insert(eh), ctxc);

  ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_0, ACS_TABLE_DETUMBLE_TRANS_0_ID, false, true);

  // Build DETUMBLE transition 1

  eh.setObject(objects::ACS_CONTROLLER);
  eh.setMode(acs::CtrlModes::DETUMBLE);
  eh.setSubmode(0);
  CHK(ACS_TABLE_DETUMBLE_TRANS_1.insert(eh), ctxc);
  ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_1, ACS_TABLE_DETUMBLE_TRANS_1_ID, false, true);

  ss->addSequence(&ACS_SEQUENCE_DETUMBLE, ACS_SEQUENCE_DETUMBLE_ID, 0 /*Ü TODO*/, false, true);
}

void satsystem::buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {}

void satsystem::buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {}

void satsystem::buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {}

void satsystem::checkInsert(ReturnValue_t result, const char* ctx) {
  if(result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "Insertion failed at " << ctx << std::endl;
  }
}