#ifndef MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_
#define MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_

#include <fsfw/datapoollocal/LocalPoolVariable.h>
#include <fsfw/datapoollocal/StaticLocalDataSet.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>

#include "events/subsystemIdRanges.h"
#include "objects/systemObjectList.h"

namespace RwDefinitions {

static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::RW_HANDLER;

//! [EXPORT] : [COMMENT] Reaction wheel signals an error state
static constexpr Event ERROR_STATE = MAKE_EVENT(1, severity::HIGH);

static constexpr Event RESET_OCCURED = event::makeEvent(SUBSYSTEM_ID, 2, severity::LOW);

static const uint32_t SPI_REPLY_DELAY = 70000;  // us

enum PoolIds : lp_id_t {
  TEMPERATURE_C,
  CURR_SPEED,
  REFERENCE_SPEED,
  STATE,
  CLC_MODE,
  LAST_RESET_STATUS,
  CURRRENT_RESET_STATUS,
  TM_LAST_RESET_STATUS,
  TM_MCU_TEMPERATURE,
  PRESSURE_SENSOR_TEMPERATURE,
  PRESSURE,
  TM_RW_STATE,
  TM_CLC_MODE,
  TM_RW_CURR_SPEED,
  TM_RW_REF_SPEED,
  INVALID_CRC_PACKETS,
  INVALID_LEN_PACKETS,
  INVALID_CMD_PACKETS,
  EXECUTED_REPLIES,
  COMMAND_REPLIES,
  UART_BYTES_WRITTEN,
  UART_BYTES_READ,
  UART_PARITY_ERRORS,
  UART_NOISE_ERRORS,
  UART_FRAME_ERRORS,
  UART_REG_OVERRUN_ERRORS,
  UART_TOTAL_ERRORS,
  TOTAL_ERRORS,
  SPI_BYTES_WRITTEN,
  SPI_BYTES_READ,
  SPI_REG_OVERRUN_ERRORS,
  SPI_TOTAL_ERRORS,

  RW_SPEED,
};

enum States : uint8_t { STATE_ERROR, IDLE, COASTING, RUNNING_SPEED_STABLE, RUNNING_SPEED_CHANGING };

enum LastResetStatusBitPos : uint8_t {
  PIN_RESET = 0,
  POR_PDR_BOR_RESET = 1,
  SOFTWARE_RESET = 2,
  INDEPENDENT_WATCHDOG_RESET = 3,
  WINDOW_WATCHDOG_RESET = 4,
  LOW_POWER_RESET = 5
};

static const DeviceCommandId_t RESET_MCU = 1;
static const DeviceCommandId_t GET_LAST_RESET_STATUS = 2;
static const DeviceCommandId_t CLEAR_LAST_RESET_STATUS = 3;
static const DeviceCommandId_t GET_RW_STATUS = 4;
/** This command is needed to recover from error state */
static const DeviceCommandId_t INIT_RW_CONTROLLER = 5;
static const DeviceCommandId_t SET_SPEED = 6;
static const DeviceCommandId_t GET_TEMPERATURE = 8;
static const DeviceCommandId_t GET_TM = 9;

enum SetIds : uint32_t {
  TEMPERATURE_SET_ID = GET_TEMPERATURE,
  STATUS_SET_ID = GET_RW_STATUS,
  LAST_RESET_ID = GET_LAST_RESET_STATUS,
  TM_SET_ID = GET_TM,
  SPEED_CMD_SET = 10,
};

static const size_t SIZE_GET_RESET_STATUS = 5;
static const size_t SIZE_CLEAR_RESET_STATUS = 4;
static const size_t SIZE_INIT_RW = 4;
static const size_t SIZE_GET_RW_STATUS = 14;
static const size_t SIZE_SET_SPEED_REPLY = 4;
static const size_t SIZE_GET_TEMPERATURE_REPLY = 8;
/** Max size when requesting telemetry */
static const size_t SIZE_GET_TELEMETRY_REPLY = 91;

/** Set speed command has maximum size */
static const size_t MAX_CMD_SIZE = 9;
/**
 * Max reply is reached when each byte is replaced by its substitude which should normally never
 * happen.
 */
static const size_t MAX_REPLY_SIZE = 2 * SIZE_GET_TELEMETRY_REPLY;

static const uint8_t LAST_RESET_ENTRIES = 2;
static const uint8_t STATUS_SET_ENTRIES = 5;
static const uint8_t TM_SET_ENTRIES = 24;

/**
 * @brief   This dataset can be used to store the data periodically polled from the RW
 */
class StatusSet : public StaticLocalDataSet<STATUS_SET_ENTRIES> {
 public:
  StatusSet(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, RwDefinitions::SetIds::STATUS_SET_ID) {}

  StatusSet(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::STATUS_SET_ID)) {}

  lp_var_t<int32_t> temperatureCelcius =
      lp_var_t<int32_t>(sid.objectId, PoolIds::TEMPERATURE_C, this);
  lp_var_t<int32_t> currSpeed = lp_var_t<int32_t>(sid.objectId, PoolIds::CURR_SPEED, this);
  lp_var_t<int32_t> referenceSpeed =
      lp_var_t<int32_t>(sid.objectId, PoolIds::REFERENCE_SPEED, this);
  lp_var_t<uint8_t> state = lp_var_t<uint8_t>(sid.objectId, PoolIds::STATE, this);
  lp_var_t<uint8_t> clcMode = lp_var_t<uint8_t>(sid.objectId, PoolIds::CLC_MODE, this);
};

/**
 * @brief   This dataset stores the last reset status.
 */
class LastResetSatus : public StaticLocalDataSet<LAST_RESET_ENTRIES> {
 public:
  LastResetSatus(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, RwDefinitions::SetIds::LAST_RESET_ID) {}

  LastResetSatus(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::LAST_RESET_ID)) {}

  // If a reset occurs, the status code will be cached into this variable
  lp_var_t<uint8_t> lastNonClearedResetStatus =
      lp_var_t<uint8_t>(sid.objectId, PoolIds::LAST_RESET_STATUS, this);
  // This will always contain the last polled reset status
  lp_var_t<uint8_t> currentResetStatus =
      lp_var_t<uint8_t>(sid.objectId, PoolIds::CURRRENT_RESET_STATUS, this);
};

/**
 * @brief   This dataset stores telemetry data as specified in the datasheet of the nano avionics
 *          reaction wheels. https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/
 *          EIVE_IRS/Arbeitsdaten/08_Used%20Components/Nanoavionics_Reactionwheels&fileid=181622
 */
class TmDataset : public StaticLocalDataSet<TM_SET_ENTRIES> {
 public:
  TmDataset(HasLocalDataPoolIF* owner)
      : StaticLocalDataSet(owner, RwDefinitions::SetIds::TM_SET_ID) {}

  TmDataset(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::TM_SET_ID)) {}

  lp_var_t<uint8_t> lastResetStatus =
      lp_var_t<uint8_t>(sid.objectId, PoolIds::TM_LAST_RESET_STATUS, this);
  lp_var_t<int32_t> mcuTemperature =
      lp_var_t<int32_t>(sid.objectId, PoolIds::TM_MCU_TEMPERATURE, this);
  lp_var_t<float> pressureSensorTemperature =
      lp_var_t<float>(sid.objectId, PoolIds::PRESSURE_SENSOR_TEMPERATURE, this);
  lp_var_t<float> pressure = lp_var_t<float>(sid.objectId, PoolIds::PRESSURE, this);
  lp_var_t<uint8_t> rwState = lp_var_t<uint8_t>(sid.objectId, PoolIds::TM_RW_STATE, this);
  lp_var_t<uint8_t> rwClcMode = lp_var_t<uint8_t>(sid.objectId, PoolIds::TM_CLC_MODE, this);
  lp_var_t<int32_t> rwCurrSpeed = lp_var_t<int32_t>(sid.objectId, PoolIds::TM_RW_CURR_SPEED, this);
  lp_var_t<int32_t> rwRefSpeed = lp_var_t<int32_t>(sid.objectId, PoolIds::TM_RW_REF_SPEED, this);
  lp_var_t<uint32_t> numOfInvalidCrcPackets =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::INVALID_CRC_PACKETS, this);
  lp_var_t<uint32_t> numOfInvalidLenPackets =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::INVALID_LEN_PACKETS, this);
  lp_var_t<uint32_t> numOfInvalidCmdPackets =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::INVALID_CMD_PACKETS, this);
  lp_var_t<uint32_t> numOfCmdExecutedReplies =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::EXECUTED_REPLIES, this);
  lp_var_t<uint32_t> numOfCmdReplies =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::COMMAND_REPLIES, this);
  lp_var_t<uint32_t> uartNumOfBytesWritten =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_BYTES_WRITTEN, this);
  lp_var_t<uint32_t> uartNumOfBytesRead =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_BYTES_READ, this);
  lp_var_t<uint32_t> uartNumOfParityErrors =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_PARITY_ERRORS, this);
  lp_var_t<uint32_t> uartNumOfNoiseErrors =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_NOISE_ERRORS, this);
  lp_var_t<uint32_t> uartNumOfFrameErrors =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_FRAME_ERRORS, this);
  lp_var_t<uint32_t> uartNumOfRegisterOverrunErrors =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_REG_OVERRUN_ERRORS, this);
  lp_var_t<uint32_t> uartTotalNumOfErrors =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::UART_TOTAL_ERRORS, this);
  lp_var_t<uint32_t> spiNumOfBytesWritten =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::SPI_BYTES_WRITTEN, this);
  lp_var_t<uint32_t> spiNumOfBytesRead =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::SPI_BYTES_READ, this);
  lp_var_t<uint32_t> spiNumOfRegisterOverrunErrors =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::SPI_REG_OVERRUN_ERRORS, this);
  lp_var_t<uint32_t> spiTotalNumOfErrors =
      lp_var_t<uint32_t>(sid.objectId, PoolIds::SPI_TOTAL_ERRORS, this);
};

class RwSpeedActuationSet : StaticLocalDataSet<4> {
  friend class RwHandler;

 public:
  RwSpeedActuationSet(HasLocalDataPoolIF& owner)
      : StaticLocalDataSet(&owner, RwDefinitions::SetIds::SPEED_CMD_SET) {}
  RwSpeedActuationSet(object_id_t objectId)
      : StaticLocalDataSet(sid_t(objectId, RwDefinitions::SetIds::SPEED_CMD_SET)) {}

  void setRwSpeed(int32_t rwSpeed_) {
    if (rwSpeed.value != rwSpeed_) {
    }
    rwSpeed = rwSpeed_;
  }

  void getRwSpeed(int32_t& rwSpeed_) { rwSpeed_ = rwSpeed.value; }

 private:
  lp_var_t<int32_t> rwSpeed =
      lp_var_t<int32_t>(sid.objectId, RwDefinitions::PoolIds::RW_SPEED, this);
};

}  // namespace RwDefinitions

#endif /* MISSION_DEVICES_DEVICEDEFINITIONS_RWDEFINITIONS_H_ */