#include "P60DockHandler.h"

#include <fsfw/datapool/PoolReadGuard.h>

#include "OBSWConfig.h"

P60DockHandler::P60DockHandler(object_id_t objectId, object_id_t comIF, CookieIF *comCookie,
                               FailureIsolationBase *customFdir)
    : GomspaceDeviceHandler(objectId, comIF, comCookie, customFdir,
                            P60Dock::MAX_CONFIGTABLE_ADDRESS, P60Dock::MAX_HKTABLE_ADDRESS,
                            P60Dock::HK_TABLE_REPLY_SIZE),
      coreHk(this),
      auxHk(this) {}

P60DockHandler::~P60DockHandler() {}

ReturnValue_t P60DockHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
  *id = GomspaceCommands::REQUEST_HK_TABLE;
  return buildCommandFromCommand(*id, NULL, 0);
}

void P60DockHandler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {
  parseHkTableReply(packet);
  /**
   * Hk table will be sent to the commander if hk table request was not triggered by the
   * P60DockHandler itself.
   */
  handleDeviceTM(&coreHk, id, true);
}

void P60DockHandler::parseHkTableReply(const uint8_t *packet) {
  using namespace P60Dock;
  uint16_t dataOffset = 0;
  PoolReadGuard pg0(&coreHk);
  PoolReadGuard pg1(&auxHk);
  if (pg0.getReadResult() != HasReturnvaluesIF::RETURN_OK or
      pg1.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
    coreHk.setValidity(false, true);
    auxHk.setValidity(false, true);
    return;
  }
  /**
   * Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
   * address.
   */
  dataOffset += 12;
  for (uint8_t idx = 0; idx < hk::CHNLS_LEN; idx++) {
    coreHk.currents[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
  }
  for (uint8_t idx = 0; idx < hk::CHNLS_LEN; idx++) {
    coreHk.voltages[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
  }
  for (uint8_t idx = 0; idx < hk::CHNLS_LEN; idx++) {
    coreHk.outputEnables[idx] = *(packet + dataOffset);
    dataOffset += 3;
  }

  coreHk.temperature1 =
      static_cast<int16_t>(*(packet + dataOffset) << 8 | *(packet + dataOffset + 1)) * 0.1;
  dataOffset += 4;
  coreHk.temperature2 =
      static_cast<int16_t>(*(packet + dataOffset) << 8 | *(packet + dataOffset + 1)) * 0.1;
  dataOffset += 4;

  auxHk.bootcause = *(packet + dataOffset) << 24 |

                    *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 |
                    *(packet + dataOffset + 3);
  dataOffset += 6;
  coreHk.bootCount = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                     *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  if (firstHk) {
    triggerEvent(P60_BOOT_COUNT, coreHk.bootCount.value);
  }
  dataOffset += 6;
  auxHk.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  auxHk.resetcause = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);

  dataOffset += 4;
  uint8_t newBattMode = packet[dataOffset];
  if (firstHk) {
    triggerEvent(BATT_MODE, newBattMode);
  } else if (newBattMode != coreHk.battMode.value) {
    triggerEvent(BATT_MODE_CHANGED, coreHk.battMode.value, newBattMode);
  }
  coreHk.battMode = newBattMode;

  dataOffset += 3;
  auxHk.heaterOn = *(packet + dataOffset);
  /* + 13 because here begins a new gomspace csp data field */
  dataOffset += 13;
  auxHk.converter5VStatus = *(packet + dataOffset);
  dataOffset += 3;

  for (uint8_t idx = 0; idx < hk::CHNLS_LEN; idx++) {
    auxHk.latchups[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
  }

  auxHk.dockVbatVoltageValue = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  auxHk.dockVccCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  coreHk.batteryCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  coreHk.batteryVoltage = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;

  auxHk.batteryTemperature1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  auxHk.batteryTemperature2 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;

  for (uint8_t idx = 0; idx < NUM_DEVS; idx++) {
    auxHk.devicesType[idx] = *(packet + dataOffset);
    dataOffset += 3;
  }
  for (uint8_t idx = 0; idx < NUM_DEVS; idx++) {
    auxHk.devicesStatus[idx] = *(packet + dataOffset);
    dataOffset += 3;
  }

  auxHk.dearmStatus = *(packet + dataOffset);
  dataOffset += 3;

  auxHk.wdtCntGnd = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                    *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  auxHk.wdtCntI2c = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                    *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  auxHk.wdtCntCan = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                    *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  auxHk.wdtCntCsp1 = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                     *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  auxHk.wdtCntCsp2 = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                     *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;

  auxHk.wdtGndLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                     *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  auxHk.wdtI2cLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                     *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  auxHk.wdtCanLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                     *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  /* +16 because here begins a new gomspace csp packet */
  dataOffset += 16;

  auxHk.wdtCspLeft1 = *(packet + dataOffset);
  dataOffset += 3;
  auxHk.wdtCspLeft2 = *(packet + dataOffset);
  dataOffset += 3;

  auxHk.batteryChargeCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  auxHk.batteryDischargeCurrent = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  auxHk.ant6Depl = *(packet + dataOffset);
  dataOffset += 3;
  auxHk.ar6Depl = *(packet + dataOffset);
  if (firstHk) {
    firstHk = false;
  }
  coreHk.setValidity(true, true);
  auxHk.setValidity(true, true);
}

ReturnValue_t P60DockHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                      LocalDataPoolManager &poolManager) {
  using namespace P60System;
  localDataPoolMap.emplace(pool::P60_CURRENTS, &hkCurrents);

  localDataPoolMap.emplace(pool::P60_VOLTAGES, &hkVoltages);

  localDataPoolMap.emplace(pool::P60_OUTPUT_ENABLE, &outputEnables);

  localDataPoolMap.emplace(pool::P60DOCK_TEMPERATURE_1, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_TEMPERATURE_2, new PoolEntry<float>({0}));

  localDataPoolMap.emplace(pool::P60DOCK_BOOT_CAUSE, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_BOOT_CNT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_UPTIME, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_RESETCAUSE, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_BATT_MODE, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_HEATER_ON, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_CONV_5V_ENABLE_STATUS, new PoolEntry<uint8_t>({0}));

  localDataPoolMap.emplace(pool::LATCHUPS, &latchups);

  localDataPoolMap.emplace(pool::P60DOCK_DOCK_VBAT, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_DOCK_VCC_CURRENT, new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_BATTERY_CURRENT, new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_BATTERY_VOLTAGE, new PoolEntry<uint16_t>({0}));

  localDataPoolMap.emplace(pool::P60DOCK_BATTERY_TEMPERATURE_1, new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_BATTERY_TEMPERATURE_2, new PoolEntry<int16_t>({0}));

  localDataPoolMap.emplace(pool::DEVICES_TYPE, &devicesType);
  localDataPoolMap.emplace(pool::DEVICES_STATUS, &devicesStatus);

  localDataPoolMap.emplace(pool::P60DOCK_DEARM_STATUS, new PoolEntry<uint8_t>({0}));

  localDataPoolMap.emplace(pool::P60DOCK_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_WDT_CNT_I2C, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_WDT_CNT_CAN, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_WDT_CNT_CSP_1, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_WDT_CNT_CSP_2, new PoolEntry<uint32_t>({0}));

  localDataPoolMap.emplace(pool::P60DOCK_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_WDT_I2C_LEFT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_WDT_CAN_LEFT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_WDT_CSP_LEFT_1, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_WDT_CSP_LEFT_2, new PoolEntry<uint8_t>({0}));

  localDataPoolMap.emplace(pool::P60DOCK_BATT_CHARGE_CURRENT, new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_BATT_DISCHARGE_CURRENT, new PoolEntry<int16_t>({0}));

  localDataPoolMap.emplace(pool::P60DOCK_ANT6_DEPL, new PoolEntry<int8_t>({0}));
  localDataPoolMap.emplace(pool::P60DOCK_AR6_DEPL, new PoolEntry<int8_t>({0}));
  poolManager.subscribeForPeriodicPacket(coreHk.getSid(), false, 10.0, false);
  poolManager.subscribeForPeriodicPacket(auxHk.getSid(), false, 30.0, false);
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t P60DockHandler::printStatus(DeviceCommandId_t cmd) {
  ReturnValue_t result = RETURN_OK;
  switch (cmd) {
    case (GomspaceCommands::PRINT_SWITCH_V_I): {
      PoolReadGuard pg0(&coreHk);
      PoolReadGuard pg1(&auxHk);
      if (pg0.getReadResult() != HasReturnvaluesIF::RETURN_OK or
          pg1.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
        break;
      }
      printHkTableSwitchIV();
      return HasReturnvaluesIF::RETURN_OK;
    }
    case (GomspaceCommands::PRINT_LATCHUPS): {
      PoolReadGuard pg(&auxHk);
      result = pg.getReadResult();
      printHkTableLatchups();
      if (result != HasReturnvaluesIF::RETURN_OK) {
        break;
      }
      return HasReturnvaluesIF::RETURN_OK;
    }
    default: {
      return DeviceHandlerIF::COMMAND_NOT_SUPPORTED;
    }
  }
  sif::warning << "Reading P60 Dock HK table failed" << std::endl;
  return HasReturnvaluesIF::RETURN_FAILED;
}

void P60DockHandler::printHkTableSwitchIV() {
  using namespace P60Dock;
  sif::info << "P60 Dock Info:" << std::endl;
  sif::info << "Boot Cause: " << auxHk.bootcause << " | Boot Count: " << std::setw(4) << std::right
            << coreHk.bootCount << std::endl;
  sif::info << "Reset Cause: " << auxHk.resetcause
            << " | Battery Mode: " << static_cast<int>(coreHk.battMode.value) << std::endl;
  sif::info << "SwitchState, Currents [mA], Voltages [mV]:" << std::endl;
  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Dock VBAT VCC" << std::dec
            << "| -, " << std::setw(4) << std::right << auxHk.dockVccCurrent << ", " << std::setw(5)
            << auxHk.dockVbatVoltageValue << std::endl;
  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "BATT" << std::dec << "| -, "
            << std::setw(4) << std::right << coreHk.batteryCurrent.value << ", " << std::setw(5)
            << coreHk.batteryVoltage.value << std::endl;

  auto genericPrintoutHandler = [&](std::string name, uint8_t idx) {
    sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << name << std::dec << "| "
              << unsigned(coreHk.outputEnables[idx]) << ", " << std::setw(4) << std::right
              << coreHk.currents[idx] << ", " << std::setw(5) << coreHk.voltages[idx] << std::endl;
  };

  genericPrintoutHandler("ACU VCC", hk::ACU_VCC);
  genericPrintoutHandler("ACU VBAT", hk::ACU_VBAT);
  genericPrintoutHandler("PDU1 VCC", hk::PDU1_VCC);
  genericPrintoutHandler("PDU1 VBAT", hk::PDU1_VBAT);
  genericPrintoutHandler("PDU2 VCC", hk::PDU2_VCC);
  genericPrintoutHandler("PDU2 VBAT", hk::PDU2_VBAT);
  genericPrintoutHandler("Stack VBAT", hk::STACK_VBAT);
  genericPrintoutHandler("Stack 3V3", hk::STACK_3V3);
  genericPrintoutHandler("Stack 5V", hk::STACK_5V);
}

LocalPoolDataSetBase *P60DockHandler::getDataSetHandle(sid_t sid) {
  if (sid == coreHk.getSid()) {
    return &coreHk;
  } else if (sid == auxHk.getSid()) {
    return &auxHk;
  }
  return nullptr;
}

void P60DockHandler::printHkTableLatchups() {
  using namespace P60Dock;
  sif::info << "P60 Latchup Information" << std::endl;
  auto genericPrintoutHandler = [&](std::string name, uint8_t idx) {
    sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << name << std::dec << "| "
              << std::setw(4) << std::right << auxHk.latchups[idx] << std::endl;
  };
  genericPrintoutHandler("ACU VCC", hk::ACU_VCC);
  genericPrintoutHandler("ACU VBAT", hk::ACU_VBAT);
  genericPrintoutHandler("PDU1 VCC", hk::PDU1_VCC);
  genericPrintoutHandler("PDU1 VBAT", hk::PDU1_VBAT);
  genericPrintoutHandler("PDU2 VCC", hk::PDU2_VCC);
  genericPrintoutHandler("PDU2 VBAT", hk::PDU2_VBAT);
  genericPrintoutHandler("STACK VBAT", hk::STACK_VBAT);
  genericPrintoutHandler("STACK 3V3", hk::STACK_3V3);
  genericPrintoutHandler("STACK 5V", hk::STACK_5V);
  genericPrintoutHandler("GS 3V3", hk::GS3V3);
  genericPrintoutHandler("GS 5V", hk::GS5V);
  genericPrintoutHandler("X3 VBAT", hk::X3_IDLE_VBAT);
  genericPrintoutHandler("X3 VCC", hk::X3_IDLE_VCC);
}

void P60DockHandler::setDebugMode(bool enable) { this->debugMode = enable; }