#include "ObjectFactory.h"
#include <OBSWConfig.h>
#include <tmtc/apid.h>
#include <devices/addresses.h>
#include <devices/gpioIds.h>
#include <tmtc/pusIds.h>
#include <devices/powerSwitcherList.h>

#include <bsp_q7s/devices/HeaterHandler.h>
#include <bsp_q7s/devices/SolarArrayDeploymentHandler.h>
#include <bsp_q7s/gpio/gpioCallbacks.h>

#include <mission/core/GenericFactory.h>
#include <mission/devices/PDU1Handler.h>
#include <mission/devices/PDU2Handler.h>
#include <mission/devices/ACUHandler.h>
#include <mission/devices/PCDUHandler.h>
#include <mission/devices/P60DockHandler.h>
#include <mission/devices/Tmp1075Handler.h>
#include <mission/devices/Max31865PT1000Handler.h>
#include <mission/devices/IMTQHandler.h>
#include <mission/devices/devicedefinitions/Max31865Definitions.h>

#include <mission/devices/SyrlinksHkHandler.h>
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
#include <mission/utility/TmFunnel.h>

#include <linux/csp/CspCookie.h>
#include <linux/csp/CspComIF.h>
#include <linux/i2c/I2cCookie.h>
#include <linux/i2c/I2cComIF.h>
#include <linux/gpio/LinuxLibgpioIF.h>
#include <linux/gpio/GpioCookie.h>
#include <linux/uart/UartComIF.h>
#include <linux/uart/UartCookie.h>
#include <linux/spi/SpiComIF.h>
#include <linux/spi/SpiCookie.h>

#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>

#if TEST_LIBGPIOD == 1
#include <linux/boardtest/LibgpiodTest.h>
#endif

void Factory::setStaticFrameworkObjectIds() {
    PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
    PusServiceBase::packetDestination = objects::TM_FUNNEL;

    CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
    CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;

    TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
    // No storage object for now.
    TmFunnel::storageDestination = objects::NO_OBJECT;

    LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;

    VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
    TmPacketStored::timeStamperId = objects::TIME_STAMPER;
}



void ObjectFactory::produce(){
    Factory::setStaticFrameworkObjectIds();
    ObjectFactory::produceGenericObjects();

#if TE0720 == 1
    I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
            TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
    I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
            TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
#else
    I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
            TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
    I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
            TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
#endif
    LinuxLibgpioIF* gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);

    /* Communication interfaces */
    new CspComIF(objects::CSP_COM_IF);
    new I2cComIF(objects::I2C_COM_IF);
    new UartComIF(objects::UART_COM_IF);
    new SpiComIF(objects::SPI_COM_IF, gpioComIF);

#if TE0720 == 0
    CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
            addresses::P60DOCK);
    CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
            addresses::PDU1);
    CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
            addresses::PDU2);
    CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
            addresses::ACU);
    /* Device Handler */
    P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER,
            objects::CSP_COM_IF, p60DockCspCookie);
    PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER,
            objects::CSP_COM_IF, pdu1CspCookie);
    PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER,
            objects::CSP_COM_IF, pdu2CspCookie);
    ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER,
            objects::CSP_COM_IF, acuCspCookie);
    new PCDUHandler(objects::PCDU_HANDLER, 50);

    /**
     * Setting PCDU devices to mode normal immediately after start up because PCDU is always
     * running.
     */
    /** For now this needs to be commented out because there is no PCDU connected to the OBC */
//    p60dockhandler->setModeNormal();
//    pdu1handler->setModeNormal();
//    pdu2handler->setModeNormal();
//    acuhandler->setModeNormal();
#endif
    /* Temperature sensors */
    Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
            objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
            i2cCookieTmp1075tcs1);
    tmp1075Handler_1->setStartUpImmediately();
    Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(
            objects::TMP1075_HANDLER_2, objects::I2C_COM_IF,
            i2cCookieTmp1075tcs2);
    tmp1075Handler_2->setStartUpImmediately();

    GpioCookie* heaterGpiosCookie = new GpioCookie;
#if TE0720 == 0
    /* Pin H2-11 on stack connector */
    GpiodRegular gpioConfigHeater0(std::string("gpiochip7"), 16, std::string("Heater0"), gpio::OUT,
            0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_0, &gpioConfigHeater0);

    /* Pin H2-12 on stack connector */
    GpiodRegular gpioConfigHeater1(std::string("gpiochip7"), 12,
        std::string("Heater1"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_1, &gpioConfigHeater1);

    /* Pin H2-13 on stack connector */
    GpiodRegular gpioConfigHeater2(std::string("gpiochip7"), 7,
            std::string("Heater2"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_2, &gpioConfigHeater2);

    GpiodRegular gpioConfigHeater3(std::string("gpiochip7"), 5, std::string("Heater3"), gpio::OUT,
            0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_3, &gpioConfigHeater3);

    GpiodRegular gpioConfigHeater4(std::string("gpiochip7"), 3, std::string("Heater4"), gpio::OUT,
            0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_4, &gpioConfigHeater4);

    GpiodRegular gpioConfigHeater5(std::string("gpiochip7"), 0, std::string("Heater5"), gpio::OUT,
            0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_5, &gpioConfigHeater5);

    GpiodRegular gpioConfigHeater6(std::string("gpiochip7"), 1, std::string("Heater6"), gpio::OUT,
            0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_6, &gpioConfigHeater6);

    GpiodRegular gpioConfigHeater7(std::string("gpiochip7"), 11, std::string("Heater7"), gpio::OUT,
            0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_7, &gpioConfigHeater7);

    new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, objects::PCDU_HANDLER,
            pcduSwitches::TCS_BOARD_8V_HEATER_IN);

    GpioCookie* solarArrayDeplCookie = new GpioCookie;

    GpiodRegular gpioConfigDeplSA0(std::string("gpiochip7"), 4,
                std::string("DeplSA1"), gpio::OUT, 0);
    solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, &gpioConfigDeplSA0);
    GpiodRegular gpioConfigDeplSA1(std::string("gpiochip7"), 2,
                std::string("DeplSA2"), gpio::OUT, 0);
    solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, &gpioConfigDeplSA1);

    //TODO: Find out burn time. For now set to 1000 ms.
    new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
            solarArrayDeplCookie, objects::PCDU_HANDLER, pcduSwitches::DEPLOYMENT_MECHANISM,
            gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);

    UartCookie* syrlinksUartCookie = new UartCookie(
            std::string("/dev/ttyUL0"), 38400, SYRLINKS::MAX_REPLY_SIZE);
    syrlinksUartCookie->setParityEven();

    SyrlinksHkHandler* syrlinksHkHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER,
            objects::UART_COM_IF, syrlinksUartCookie);
    syrlinksHkHandler->setModeNormal();

    GpioCookie* rtdGpioCookie = new GpioCookie;

    gpioCallbacks::initTcsBoardDecoder(gpioComIF);
    GpioCallback gpioRtdIc3(std::string("Chip select RTD IC3"), gpio::OUT, 1,
            &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC3, &gpioRtdIc3);
    GpioCallback gpioRtdIc4(std::string("Chip select RTD IC4"), gpio::OUT, 1,
            &gpioCallbacks::tcsBoardDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC4, &gpioRtdIc4);

    SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiMode::MODE_1, 2000000);
    SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiMode::MODE_1, 2000000);
    new Max31865PT1000Handler(objects::RTD_IC3, objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
    new Max31865PT1000Handler(objects::RTD_IC4, objects::SPI_COM_IF, spiRtdIc4, 0);

    I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
            std::string("/dev/i2c-0"));
    new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);

#endif

    new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
            objects::CCSDS_PACKET_DISTRIBUTOR,
            objects::TM_STORE, objects::TC_STORE);
    new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);

#if TE0720 == 1 && TEST_LIBGPIOD == 1
    /* Configure MIO0 as input */
    GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
            std::string("MIO0"), gpio::IN, 0);
    GpioCookie* gpioCookie = new GpioCookie;
    gpioCookie->addGpio(gpioIds::TEST_ID_0, gpioConfigMio0);
    new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
#elif TE0720 == 1
    /* Configuration for MIO0 on TE0720-03-1CFA */
    GpiodRegular gpioConfigForDummyHeater(std::string("gpiochip0"), 0,
            std::string("Heater0"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigForDummyHeater);
    new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
            objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
#endif
}