#include "MGMHandlerRM3100.h"

#include <fsfw/devicehandlers/DeviceHandlerMessage.h>
#include <fsfw/objectmanager/SystemObjectIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>


MGMHandlerRM3100::MGMHandlerRM3100(object_id_t objectId,
        object_id_t deviceCommunication, CookieIF* comCookie):
		DeviceHandlerBase(objectId, deviceCommunication, comCookie) {
}

MGMHandlerRM3100::~MGMHandlerRM3100() {}

void MGMHandlerRM3100::doStartUp() {
	if(internalState == STATE_NONE) {
		internalState = STATE_CONFIGURE_CMM;
	}

	if(internalState == STATE_CONFIGURE_CMM) {
		internalState = STATE_READ_CMM;
	}
	else if(internalState == STATE_READ_CMM) {
		if(commandExecuted) {
			internalState = STATE_CONFIGURE_TMRC;
		}
	}

	if(internalState == STATE_CONFIGURE_TMRC) {
		internalState = STATE_READ_TMRC;
	}
	else if(internalState == STATE_READ_TMRC) {
		if(commandExecuted) {
			internalState = STATE_NORMAL;
			setMode(_MODE_TO_ON);
		}
	}
}

void MGMHandlerRM3100::doShutDown() {
	setMode(_MODE_POWER_DOWN);
}

ReturnValue_t MGMHandlerRM3100::buildTransitionDeviceCommand(
		DeviceCommandId_t *id) {
	if(internalState == STATE_CONFIGURE_CMM) {
		*id = RM3100::CONFIGURE_CMM;
	}

	if(internalState == STATE_READ_CMM) {
		*id = RM3100::READ_CMM;
	}

	if(internalState == STATE_CONFIGURE_TMRC) {
		*id = RM3100::CONFIGURE_TMRC;
	}

	if(internalState == STATE_READ_TMRC) {
		*id = RM3100::READ_TMRC;
	}

	return buildCommandFromCommand(*id, nullptr, 0);
}

ReturnValue_t MGMHandlerRM3100::buildCommandFromCommand(
		DeviceCommandId_t deviceCommand, const uint8_t *commandData,
		size_t commandDataLen) {
	switch(deviceCommand) {
	case(RM3100::CONFIGURE_CMM): {
		commandBuffer[0] = RM3100::CMM_REGISTER;
		commandBuffer[1] = RM3100::CMM_VALUE;
		rawPacket = commandBuffer;
		rawPacketLen = 2;
		break;
	}
	case(RM3100::READ_CMM): {
		commandBuffer[0] = RM3100::CMM_REGISTER | RM3100::READ_MASK;
		commandBuffer[1] = 0;
		rawPacket = commandBuffer;
		rawPacketLen = 2;
		break;
	}
	case(RM3100::CONFIGURE_TMRC): {
		return handleTmrcConfigCommand(deviceCommand, commandData,
				commandDataLen);
	}
	case(RM3100::READ_TMRC): {
		commandBuffer[0] = RM3100::TMRC_REGISTER | RM3100::READ_MASK;
		commandBuffer[1] = 0;
		rawPacket = commandBuffer;
		rawPacketLen = 2;
		break;
	}
	case(RM3100::CONFIGURE_CYCLE_COUNT): {
		return handleCycleCountConfigCommand(deviceCommand, commandData,
				commandDataLen);
	}
	case(RM3100::READ_CYCLE_COUNT): {
		commandBuffer[0] = RM3100::CYCLE_COUNT_START_REGISTER |
				RM3100::READ_MASK;
		std::memset(commandBuffer + 1, 0, 6);
		rawPacket = commandBuffer;
		rawPacketLen = 7;
		break;
	}
	case(RM3100::READ_DATA): {
		commandBuffer[0] = RM3100::MEASUREMENT_REG_START | RM3100::READ_MASK;
		std::memset(commandBuffer + 1, 0,  9);
		rawPacketLen = 10;
		break;
	}
	default:
		return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
	}
	return RETURN_OK;
}

ReturnValue_t MGMHandlerRM3100::buildNormalDeviceCommand(
		DeviceCommandId_t *id) {
	*id = RM3100::READ_DATA;
	return buildCommandFromCommand(*id, nullptr, 0);
}

ReturnValue_t MGMHandlerRM3100::scanForReply(const uint8_t *start,
        size_t len, DeviceCommandId_t *foundId,
		size_t *foundLen) {

	// SPI, ID will always be the one of the last sent command.
	*foundId = this->getPendingCommand();
	*foundLen = this->rawPacketLen;

	// Data with SPI Interface has always this answer
	if (start[0] == 0b11111111) {
		return RETURN_OK;
	}
	else {
		return DeviceHandlerIF::INVALID_DATA;
	}
}

ReturnValue_t MGMHandlerRM3100::interpretDeviceReply(
		DeviceCommandId_t id, const uint8_t *packet) {
	if(id == RM3100::READ_CMM) {
		if(packet[1] == cmmRegValue) {
			commandExecuted = true;
		}
		else {
			// Attempt reconfiguration.
			internalState = STATE_CONFIGURE_CMM;
			return DeviceHandlerIF::DEVICE_REPLY_INVALID;
		}
	}
	else if(id == RM3100::READ_TMRC) {
		if(packet[1] == tmrcRegValue) {
			commandExecuted = true;
			// Reading TMRC was commanded.
			if(mode == MODE_NORMAL) {

			}
		}
		else {
			// Attempt reconfiguration.
			internalState = STATE_CONFIGURE_TMRC;
			return DeviceHandlerIF::DEVICE_REPLY_INVALID;
		}
	}
	else if(id == RM3100::READ_DATA) {
		// analyze data here.
		// Field strengths in micro Tesla
		int32_t fieldStrengthX = (packet[1] << 16 | packet[2] << 8 | packet[3])
				* scaleFactorX;
		int32_t fieldStrengthY = (packet[4] << 16 | packet[5] << 8 | packet[6])
				* scaleFactorY;
		int32_t fieldStrengthZ = (packet[7] << 16 | packet[8] << 8 | packet[9])
				* scaleFactorZ;
	}
	else {
		return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
	}

	return RETURN_OK;
}

ReturnValue_t MGMHandlerRM3100::handleCycleCountConfigCommand(
		DeviceCommandId_t deviceCommand, const uint8_t *commandData,
		size_t commandDataLen) {
	if(commandData == nullptr) {
		return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
	}

	// Set cycle count
	if(commandDataLen == 2) {
		handleCycleCommand(true, commandData, commandDataLen);
	}
	else if(commandDataLen == 6) {
		handleCycleCommand(false, commandData, commandDataLen);
	}
	else {
		return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
	}

	commandBuffer[0] = RM3100::CYCLE_COUNT_VALUE;
	std::memcpy(commandBuffer + 1, &cycleCountRegValueX, 2);
	std::memcpy(commandBuffer + 3, &cycleCountRegValueY, 2);
	std::memcpy(commandBuffer + 5, &cycleCountRegValueZ, 2);
	rawPacketLen = 7;
	rawPacket = commandBuffer;
	return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t MGMHandlerRM3100::handleCycleCommand(bool oneCycleValue,
		const uint8_t *commandData, size_t commandDataLen) {
	RM3100::CycleCountCommand command(oneCycleValue);
	ReturnValue_t result = command.deSerialize(&commandData, &commandDataLen,
			SerializeIF::Endianness::BIG);
	if(result != HasReturnvaluesIF::RETURN_OK) {
		return result;
	}

	// Data sheet p.30
	// "while noise limits the useful upper range to ~400 cycle counts."
	if(command.cycleCountX > 450 ) {
		return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
	}

	if(not oneCycleValue and
			(command.cycleCountY > 450 or command.cycleCountZ > 450)) {
		return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
	}

	cycleCountRegValueX = command.cycleCountX;
	cycleCountRegValueY = command.cycleCountY;
	cycleCountRegValueZ = command.cycleCountZ;
	return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t MGMHandlerRM3100::handleTmrcConfigCommand(
		DeviceCommandId_t deviceCommand, const uint8_t *commandData,
		size_t commandDataLen) {
	if(commandData == nullptr) {
		return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
	}

	if(commandDataLen != 1) {
		return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
	}

	commandBuffer[0] = RM3100::TMRC_REGISTER;
	commandBuffer[1] = commandData[1];
	rawPacketLen = 2;
	rawPacket = commandBuffer;
	return HasReturnvaluesIF::RETURN_OK;
}