#include "GyroL3GD20Handler.h"
#include <OBSWConfig.h>

#include <fsfw/datapool/PoolReadGuard.h>

GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
		CookieIF *comCookie):
		DeviceHandlerBase(objectId, deviceCommunication, comCookie),
		dataset(this) {
#if OBSW_VERBOSE_LEVEL >= 1
    debugDivider = new PeriodicOperationDivider(5);
#endif
}

GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}

void GyroHandlerL3GD20H::doStartUp() {
	if(internalState == InternalState::NONE) {
		internalState = InternalState::CONFIGURE;
	}

	if(internalState == InternalState::CONFIGURE) {
		if(commandExecuted) {
			internalState = InternalState::CHECK_REGS;
			commandExecuted = false;
		}
	}

	if(internalState == InternalState::CHECK_REGS) {
	    if(commandExecuted) {
	        internalState = InternalState::NORMAL;
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
            setMode(MODE_NORMAL);
#else
            setMode(_MODE_TO_ON);
#endif
	        commandExecuted = false;
	    }
	}
}

void GyroHandlerL3GD20H::doShutDown() {
	setMode(_MODE_POWER_DOWN);
}

ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
	switch(internalState) {
	case(InternalState::NONE):
	case(InternalState::NORMAL): {
		return HasReturnvaluesIF::RETURN_OK;
	}
	case(InternalState::CONFIGURE): {
		*id = L3GD20H::CONFIGURE_CTRL_REGS;
		uint8_t command [5];
		command[0] = L3GD20H::CTRL_REG_1_VAL;
		command[1] = L3GD20H::CTRL_REG_2_VAL;
		command[2] = L3GD20H::CTRL_REG_3_VAL;
		command[3] = L3GD20H::CTRL_REG_4_VAL;
		command[4] = L3GD20H::CTRL_REG_5_VAL;
		return buildCommandFromCommand(*id, command, 5);
	}
	case(InternalState::CHECK_REGS): {
	    *id = L3GD20H::READ_REGS;
	    return buildCommandFromCommand(*id, nullptr, 0);
	}
	default:
		/* Might be a configuration error. */
		sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
		        std::endl;
		return HasReturnvaluesIF::RETURN_OK;
	}
	return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
	*id = L3GD20H::READ_REGS;
	return buildCommandFromCommand(*id, nullptr, 0);
}

ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
		DeviceCommandId_t deviceCommand, const uint8_t *commandData,
		size_t commandDataLen) {
	switch(deviceCommand) {
	case(L3GD20H::READ_REGS): {
		commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
				L3GD20H::READ_MASK;

		std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
		rawPacket = commandBuffer;
		rawPacketLen = L3GD20H::READ_LEN + 1;
		break;
	}
	case(L3GD20H::CONFIGURE_CTRL_REGS): {
		commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
		if(commandData == nullptr or commandDataLen != 5) {
			return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
		}

		ctrlReg1Value = commandData[0];
		ctrlReg2Value = commandData[1];
		ctrlReg3Value = commandData[2];
		ctrlReg4Value = commandData[3];
		ctrlReg5Value = commandData[4];

		bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
		bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;

		if(not fsH and not fsL) {
			scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_00) / INT16_MAX;
		}
		else if(not fsH and fsL) {
			scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_01) / INT16_MAX;
		}
		else {
			scaleFactor = static_cast<float>(L3GD20H::RANGE_DPS_11) / INT16_MAX;
		}

		commandBuffer[1] = ctrlReg1Value;
		commandBuffer[2] = ctrlReg2Value;
		commandBuffer[3] = ctrlReg3Value;
		commandBuffer[4] = ctrlReg4Value;
		commandBuffer[5] = ctrlReg5Value;

		rawPacket = commandBuffer;
		rawPacketLen = 6;
		break;
	}
	case(L3GD20H::READ_CTRL_REGS): {
		commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
				L3GD20H::READ_MASK;

		std::memset(commandBuffer + 1, 0, 5);
		rawPacket = commandBuffer;
		rawPacketLen = 6;
		break;
	}
	default:
		return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
	}
	return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
		DeviceCommandId_t *foundId, size_t *foundLen) {
	/* For SPI, the 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 HasReturnvaluesIF::RETURN_OK;
	}
	return DeviceHandlerIF::INVALID_DATA;
}

ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
		const uint8_t *packet) {
	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
	switch(id) {
	case(L3GD20H::CONFIGURE_CTRL_REGS): {
	    commandExecuted = true;
		break;
	}
	case(L3GD20H::READ_CTRL_REGS): {
		if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
				packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
				packet[5] == ctrlReg5Value) {
			commandExecuted = true;
		}
		else {
			/* Attempt reconfiguration. */
			internalState = InternalState::CONFIGURE;
			return DeviceHandlerIF::DEVICE_REPLY_INVALID;
		}
		break;
	}
	case(L3GD20H::READ_REGS): {
		if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
				packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
				packet[5] != ctrlReg5Value) {
			return DeviceHandlerIF::DEVICE_REPLY_INVALID;
		}
		else {
		    if(internalState == InternalState::CHECK_REGS) {
		        commandExecuted = true;
		    }
		}

		statusReg = packet[L3GD20H::STATUS_IDX];

		float angVelocX = (packet[L3GD20H::OUT_X_H] << 8 |
				packet[L3GD20H::OUT_X_L]) * scaleFactor;
		float angVelocY = (packet[L3GD20H::OUT_Y_H] << 8 |
				packet[L3GD20H::OUT_Y_L]) * scaleFactor;
		float angVelocZ = (packet[L3GD20H::OUT_Z_H] << 8 |
				packet[L3GD20H::OUT_Z_L]) * scaleFactor;

		int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
		float temperature = 25.0 + temperaturOffset;
#if OBSW_VERBOSE_LEVEL >= 1
        if(debugDivider->checkAndIncrement()) {
            /* Set terminal to utf-8 if there is an issue with micro printout. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::info << "GyroHandlerL3GD20H: Angular velocities in degrees per second:" <<
                    std::endl;
            sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl;
            sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl;
            sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl;
#else
            sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n");
            sif::printInfo("X: %f " "\xC2\xB0" "T\n", angVelocX);
            sif::printInfo("Y: %f " "\xC2\xB0" "T\n", angVelocY);
            sif::printInfo("Z: %f " "\xC2\xB0" "T\n", angVelocZ);
#endif
        }
#endif

		PoolReadGuard readSet(&dataset);
		if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
			dataset.angVelocX = angVelocX;
			dataset.angVelocY = angVelocY;
			dataset.angVelocZ = angVelocZ;
			dataset.temperature = temperature;
			dataset.setValidity(true, true);
		}
		break;
	}
	default:
		return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
	}
	return result;
}


uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
	return 10000;
}

ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
		localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
	localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
			new PoolEntry<float>({0.0}));
	localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y,
			new PoolEntry<float>({0.0}));
	localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z,
			new PoolEntry<float>({0.0}));
	localDataPoolMap.emplace(L3GD20H::TEMPERATURE,
			new PoolEntry<float>({0.0}));
	return HasReturnvaluesIF::RETURN_OK;
}

void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
	insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
	insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
	insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
}

void GyroHandlerL3GD20H::modeChanged() {
	internalState = InternalState::NONE;
}