#include "linux/scheduling.h"

#include <bsp_hosted/fsfwconfig/pollingsequence/DummyPst.h>
#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/returnvalues/returnvalue.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>
#include <fsfw/tasks/PeriodicTaskIF.h>
#include <fsfw/tasks/TaskFactory.h>
#include <mission/utility/InitMission.h>

#include <iostream>

#include "OBSWConfig.h"
#include "mission/scheduling.h"
#include "objectFactory.h"
#include "scheduling.h"

#ifdef LINUX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR", false, false, true);
#else
ServiceInterfaceStream sif::debug("DEBUG", true);
ServiceInterfaceStream sif::info("INFO", true);
ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif

ObjectManagerIF* objectManager = nullptr;

void scheduling::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 scheduling::initTasks() {
  TaskFactory* factory = TaskFactory::instance();
  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", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  ReturnValue_t result = tmtcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
  if (result != returnvalue::OK) {
    sif::error << "Adding CCSDS distributor failed" << std::endl;
  }
  result = tmtcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
  if (result != returnvalue::OK) {
    sif::error << "Adding PUS distributor failed" << std::endl;
  }
  result = tmtcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
  if (result != returnvalue::OK) {
    sif::error << "Adding CFDP distributor failed" << std::endl;
  }
#if OBSW_ADD_TMTC_UDP_SERVER == 1
  result = tmtcDistributor->addComponent(objects::UDP_TMTC_SERVER);
  if (result != returnvalue::OK) {
    sif::error << "adding UDP server failed" << std::endl;
  }
#endif
  result = tmtcDistributor->addComponent(objects::TCP_TMTC_SERVER);
  if (result != returnvalue::OK) {
    sif::error << "adding TCP server failed" << std::endl;
  }

#if OBSW_ADD_TMTC_UDP_SERVER == 1
  PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
      "UDP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
  if (result != returnvalue::OK) {
    sif::error << "Add component UDP Polling failed" << std::endl;
  }
#endif
  PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
      "TCP_POLLING", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
  if (result != returnvalue::OK) {
    sif::error << "Add component UDP Polling failed" << std::endl;
  }

  PeriodicTaskIF* liveTmTask = factory->createPeriodicTask(
      "LIVE_TM", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr, &RR_SCHEDULING);
  result = liveTmTask->addComponent(objects::LIVE_TM_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("LIVE_TM", objects::LIVE_TM_TASK);
  }

  PeriodicTaskIF* pusHighPrio = factory->createPeriodicTask(
      "PUS_HIGH_PRIO", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
  if (result != returnvalue::OK) {
    sif::error << "Object add component failed" << std::endl;
  }
  result = pusHighPrio->addComponent(objects::EVENT_MANAGER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("EVENT_MGMT", objects::EVENT_MANAGER);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS5", objects::PUS_SERVICE_5_EVENT_REPORTING);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS9", objects::PUS_SERVICE_9_TIME_MGMT);
  }

  PeriodicTaskIF* pusMedPrio = factory->createPeriodicTask(
      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS3", objects::PUS_SERVICE_3_HOUSEKEEPING);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_15_TM_STORAGE);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS15", objects::PUS_SERVICE_15_TM_STORAGE);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS200", objects::PUS_SERVICE_200_MODE_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS20", objects::PUS_SERVICE_20_PARAMETERS);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS17", objects::PUS_SERVICE_17_TEST);
  }

  PeriodicTaskIF* thermalTask = factory->createPeriodicTask(
      "THERMAL_CTL_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = thermalTask->addComponent(objects::CORE_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
  }
  result = thermalTask->addComponent(objects::THERMAL_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
  }
  result = thermalTask->addComponent(objects::HEATER_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
  }

  FixedTimeslotTaskIF* pstTask = factory->createFixedTimeslotTask(
      "DUMMY_PST", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
  result = dummy_pst::pst(pstTask);
  if (result != returnvalue::OK) {
    sif::error << "Failed to add dummy pst to fixed timeslot task" << std::endl;
  }

#if OBSW_ADD_CFDP_COMPONENTS == 1
  PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
      "CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
  result = cfdpTask->addComponent(objects::CFDP_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
  }
#endif

  // If those are added at a later stage..
  /*
  PeriodicTaskIF* logTmTask = factory->createPeriodicTask(
      "LOG_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
  result = logTmTask->addComponent(objects::LOG_STORE_AND_TM_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("LOG_STORE_AND_TM", objects::LOG_STORE_AND_TM_TASK);
  }
  PeriodicTaskIF* hkTmTask =
      factory->createPeriodicTask("HK_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
  result = hkTmTask->addComponent(objects::HK_STORE_AND_TM_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("HK_STORE_AND_TM", objects::HK_STORE_AND_TM_TASK);
  }
  PeriodicTaskIF* cfdpTmTask = factory->createPeriodicTask(
      "CFDP_PSTORE", 0, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
  result = cfdpTmTask->addComponent(objects::CFDP_STORE_AND_TM_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CFDP_STORE_AND_TM", objects::CFDP_STORE_AND_TM_TASK);
  }
   */

#if OBSW_ADD_PLOC_SUPERVISOR == 1
  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
      "PLOC_SUPV_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
  }
#endif /* OBSW_ADD_PLOC_SUPERVISOR */

  PeriodicTaskIF* plTask = factory->createPeriodicTask(
      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  scheduling::addMpsocSupvHandlers(plTask);
#if OBSW_ADD_TEST_CODE == 1
  result = testTask->addComponent(objects::TEST_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("TEST_TASK", objects::TEST_TASK);
  }
#endif /* OBSW_ADD_TEST_CODE == 1 */

  PeriodicTaskIF* dummyTask = factory->createPeriodicTask(
      "DUMMY_TASK", 35, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
  dummyTask->addComponent(objects::THERMAL_TEMP_INSERTER);
  scheduling::scheduleTmpTempSensors(dummyTask, true);
  scheduling::scheduleRtdSensors(dummyTask);
  dummyTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
  dummyTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
  dummyTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
  dummyTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
  dummyTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
  dummyTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
  dummyTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
  dummyTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
  dummyTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
  dummyTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
  dummyTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
  dummyTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);

  sif::info << "Starting tasks.." << std::endl;
  tmtcDistributor->startTask();
#if OBSW_ADD_TMTC_UDP_SERVER == 1
  udpPollingTask->startTask();
#endif
  tcpPollingTask->startTask();
  liveTmTask->startTask();

  pusHighPrio->startTask();
  pusMedPrio->startTask();

  pstTask->startTask();
  thermalTask->startTask();
  dummyTask->startTask();

  // If those are added at a later stage..
  // logTmTask->startTask();
  // cfdpTmTask->startTask();
  // hkTmTask->startTask();

#if OBSW_ADD_PLOC_SUPERVISOR == 1
  supvHelperTask->startTask();
#endif
#if OBSW_ADD_PLOC_SUPERVISOR == 1 || OBSW_ADD_PLOC_MPSOC == 1
  plTask->startTask();
#endif
#if OBSW_ADD_CFDP_COMPONENTS == 1
  cfdpTask->startTask();
#endif

#if OBSW_ADD_TEST_CODE == 1
  testTask->startTask();
#endif /* OBSW_ADD_TEST_CODE == 1 */

  sif::info << "Tasks started.." << std::endl;
}