#include "InitMission.h"
#include "ObjectFactory.h"

#include "objects/systemObjectList.h"
#include "OBSWConfig.h"
#include "pollingsequence/pollingSequenceFactory.h"

#include <mission/utility/InitMission.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>

#include <iostream>

ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR");

ObjectManagerIF *objectManager = nullptr;

void initmission::initMission() {
    sif::info << "Building global objects.." << std::endl;
    /* Instantiate global object manager and also create all objects */
    ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
    sif::info << "Initializing all objects.." << std::endl;
    ObjectManager::instance()->initialize();

    /* This function creates and starts all tasks */
    initTasks();
}

void initmission::initTasks() {
    TaskFactory* factory = TaskFactory::instance();
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
    if(factory == nullptr) {
        /* Should never happen ! */
        return;
    }
#if OBSW_PRINT_MISSED_DEADLINES == 1
    void (*missedDeadlineFunc) (void) = TaskFactory::printMissedDeadline;
#else
    void (*missedDeadlineFunc) (void) = nullptr;
#endif


    /* TMTC Distribution */
    PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
            "DIST", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
    result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
    if(result != HasReturnvaluesIF::RETURN_OK){
        sif::error << "Object add component failed" << std::endl;
    }
    result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
    if(result != HasReturnvaluesIF::RETURN_OK){
        sif::error << "Object add component failed" << std::endl;
    }
    result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "Object add component failed" << std::endl;
    }

    /* UDP bridge */
    PeriodicTaskIF* udpBridgeTask = factory->createPeriodicTask(
            "UDP_UNIX_BRIDGE", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
    result = udpBridgeTask->addComponent(objects::TMTC_BRIDGE);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "Add component UDP Unix Bridge failed" << std::endl;
    }
    PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
            "UDP_POLLING", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
    result = udpPollingTask->addComponent(objects::TMTC_POLLING_TASK);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "Add component UDP Polling failed" << std::endl;
    }

    /* PUS Services */
    PeriodicTaskIF* pusVerification = factory->createPeriodicTask(
            "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
    result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
    if(result != HasReturnvaluesIF::RETURN_OK){
        sif::error << "Object add component failed" << std::endl;
    }

    PeriodicTaskIF* pusEvents = factory->createPeriodicTask(
            "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
    result = pusVerification->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
    if(result != HasReturnvaluesIF::RETURN_OK){
        initmission::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
    }

    PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
            "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
    result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
    }
    result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
    }

    PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
            "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
    result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
    }
    result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
    }
    result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
    }
    result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
    }

    PeriodicTaskIF* pusLowPrio = factory->createPeriodicTask(
            "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
    result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
    }
    result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("INT_ERR_RPRT",
                objects::INTERNAL_ERROR_REPORTER);
    }

    bool startTestPst = true;
    static_cast<void>(startTestPst);
#if OBSW_ADD_TEST_PST == 1
    FixedTimeslotTaskIF* pstTestTask = factory->createFixedTimeslotTask("ACS_PST", 50,
            PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 2.0, missedDeadlineFunc);
    result = pst::pstTest(pstTestTask);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        sif::info << "initmission::initTasks: ACS PST empty or invalid" << std::endl;
        startTestPst = false;
    }
#endif /* RPI_TEST_ACS_BOARD == 1 */

    std::vector<PeriodicTaskIF*> pstTasks;
    createPstTasks(*factory, missedDeadlineFunc, pstTasks);
#if OBSW_ADD_TEST_CODE == 1
    std::vector<PeriodicTaskIF*> testTasks;
    createTestTasks(*factory, missedDeadlineFunc, pstTasks);
#endif /* OBSW_ADD_TEST_CODE == 1 */

    auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
        for(const auto& task: taskVector) {
            if(task != nullptr) {
                task->startTask();
            }
            else {
                sif::error << "Task in vector " << name << " is invalid!" << std::endl;
            }
        }
    };

    sif::info << "Starting tasks.." << std::endl;
    tmTcDistributor->startTask();
    udpBridgeTask->startTask();
    udpPollingTask->startTask();

    pusVerification->startTask();
    pusEvents->startTask();
    pusHighPrio->startTask();
    pusMedPrio->startTask();
    pusLowPrio->startTask();

#if OBSW_ADD_TEST_CODE == 1
    taskStarter(testTasks, "Test Tasks");
#endif /* OBSW_ADD_TEST_CODE == 1 */
    taskStarter(pstTasks, "PST Tasks");

#if OBSW_ADD_TEST_PST == 1
    if(startTestPst) {
        pstTestTask->startTask();
    }
#endif /* RPI_TEST_ACS_BOARD == 1 */
    sif::info << "Tasks started.." << std::endl;
}

void initmission::createPstTasks(TaskFactory& factory,
        TaskDeadlineMissedFunction missedDeadlineFunc, std::vector<PeriodicTaskIF*> &taskVec) {
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if OBSW_ADD_SPI_TEST_CODE == 0
    FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
            "PST_TASK_DEFAULT", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 3.0,
            missedDeadlineFunc);
    result = pst::pstSpi(spiPst);
    if (result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "InitMission::initTasks: Creating PST failed!" << std::endl;
    }
    taskVec.push_back(spiPst);
#endif
}

void initmission::createTestTasks(TaskFactory& factory,
        TaskDeadlineMissedFunction missedDeadlineFunc,
        std::vector<PeriodicTaskIF*> &taskVec) {
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
    PeriodicTaskIF* testTask = factory.createPeriodicTask(
            "TEST_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
    result = testTask->addComponent(objects::TEST_TASK);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("TEST_TASK", objects::TEST_TASK);
    }
#if RPI_ADD_SPI_TEST == 1
    result = testTask->addComponent(objects::SPI_TEST);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("SPI_TEST", objects::SPI_TEST);
    }
#endif /* RPI_ADD_SPI_TEST == 1 */
#if RPI_ADD_GPIO_TEST == 1
    result = testTask->addComponent(objects::LIBGPIOD_TEST);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("GPIOD_TEST", objects::LIBGPIOD_TEST);
    }
#endif /* RPI_ADD_GPIO_TEST == 1 */
#if RPI_ADD_UART_TEST == 1
    result = testTask->addComponent(objects::UART_TEST);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        initmission::printAddObjectError("UART_TEST", objects::UART_TEST);
    }
#endif /* RPI_ADD_GPIO_TEST == 1 */
}