#include <mission/devices/GyroL3GD20Handler.h>
#include <fsfw/datapool/PoolReadHelper.h>

GyroHandler::GyroHandler(object_id_t objectId, object_id_t deviceCommunication,
		CookieIF *comCookie):
		DeviceHandlerBase(objectId, deviceCommunication, comCookie),
		dataset(this) {
}

GyroHandler::~GyroHandler() {}

void GyroHandler::doStartUp() {
	if(internalState == InternalState::STATE_NONE) {
		internalState = InternalState::STATE_CONFIGURE;
	}

	if(internalState == InternalState::STATE_CONFIGURE) {
		if(commandExecuted) {
			internalState = InternalState::STATE_NORMAL;
			commandExecuted = false;
		}
	}
}

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

ReturnValue_t GyroHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
	switch(internalState) {
	case(InternalState::STATE_NONE):
	case(InternalState::STATE_NORMAL): {
		return HasReturnvaluesIF::RETURN_OK;
	}
	case(InternalState::STATE_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);
		break;
	}
	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 GyroHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
	*id = L3GD20H::READ_REGS;
	return buildCommandFromCommand(*id, nullptr, 0);
}

ReturnValue_t GyroHandler::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 GyroHandler::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 HasReturnvaluesIF::RETURN_OK;
	}
	return DeviceHandlerIF::INVALID_DATA;
}

ReturnValue_t GyroHandler::interpretDeviceReply(DeviceCommandId_t id,
		const uint8_t *packet) {
	ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
	switch(id) {
	case(L3GD20H::CONFIGURE_CTRL_REGS): {
		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::STATE_CONFIGURE;
			return DeviceHandlerIF::DEVICE_REPLY_INVALID;
		}
		break;
	}
	case(L3GD20H::READ_START): {
		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;
		}

		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;

		PoolReadHelper 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 GyroHandler::getTransitionDelayMs(Mode_t from, Mode_t to) {
	return 5000;
}

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

void GyroHandler::modeChanged() {
	internalState = InternalState::STATE_NONE;
}