#include "ObjectFactory.h"
#include <bsp_rpi/gpio/GPIORPi.h>

#include <objects/systemObjectList.h>
#include <devices/gpioIds.h>
#include <OBSWConfig.h>
#include <tmtc/apid.h>
#include <tmtc/pusIds.h>

#include <linux/boardtest/LibgpiodTest.h>
#include <linux/boardtest/SpiTestClass.h>
#include <linux/gpio/GpioCookie.h>
#include <linux/gpio/LinuxLibgpioIF.h>

#include <mission/core/GenericFactory.h>
#include <mission/utility/TmFunnel.h>

#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/osal/linux/TmTcUnixUdpBridge.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>
#include <fsfw/osal/linux/TcUnixUdpPollingTask.h>
#include <fsfw/tasks/TaskFactory.h>

void Factory::setStaticFrameworkObjectIds() {
	PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
	PusServiceBase::packetDestination = objects::TM_FUNNEL;

	CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
	CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;

	TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
	// No storage object for now.
	TmFunnel::storageDestination = objects::NO_OBJECT;

	LocalDataPoolManager::defaultHkDestination = objects::NO_OBJECT;

	VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
	TmPacketStored::timeStamperId = objects::TIME_STAMPER;
}



void ObjectFactory::produce(){
	Factory::setStaticFrameworkObjectIds();
	ObjectFactory::produceGenericObjects();

	new TmTcUnixUdpBridge(objects::UDP_BRIDGE,
			objects::CCSDS_PACKET_DISTRIBUTOR,
			objects::TM_STORE, objects::TC_STORE);
	new TcUnixUdpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);

    GpioIF* gpioIF = new LinuxLibgpioIF(objects::GPIO_IF);

#if RPI_ADD_SPI_TEST == 1
	new SpiTestClass(objects::SPI_TEST, gpioIF);
#endif

#if RPI_LOOPBACK_TEST_GPIO == 1
	GpioCookie* gpioCookie = new GpioCookie();
	/* Loopback pins. Adapt according to setup */
	gpioId_t gpioIdSender = gpioIds::TEST_ID_0;
	int bcmPinSender = 26;
	gpioId_t gpioIdReader = gpioIds::TEST_ID_1;
	int bcmPinReader = 16;
	gpio::createRpiGpioConfig(gpioCookie, gpioIdSender, bcmPinSender, "GPIO_LB_SENDER",
	        gpio::Direction::OUT, 0);
    gpio::createRpiGpioConfig(gpioCookie, gpioIdReader, bcmPinReader, "GPIO_LB_READER",
            gpio::Direction::IN, 0);
	new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
#endif
}