#ifndef MISSION_SYSTEM_SUSASSEMBLY_H_
#define MISSION_SYSTEM_SUSASSEMBLY_H_

#include <devices/powerSwitcherList.h>
#include <fsfw/devicehandlers/AssemblyBase.h>

#include "DualLaneAssemblyBase.h"

struct SusAssHelper {
 public:
  SusAssHelper(std::array<object_id_t, 12> susIds) : susIds(susIds) {}
  std::array<object_id_t, 12> susIds = {objects::NO_OBJECT};
  std::array<Mode_t, 12> susModes = {HasModesIF::MODE_OFF};
};

class PowerSwitchIF;

class SusAssembly : public DualLaneAssemblyBase {
 public:
  static constexpr uint8_t NUMBER_SUN_SENSORS_ONE_SIDE = 6;
  static constexpr uint8_t NUMBER_SUN_SENSORS = 12;

  // Use these variables instead of magic numbers when generator was updated
  // TRANSITION_OTHER_SIDE_FAILED_ID
  // NOT_ENOUGH_DEVICES_DUAL_MODE_ID
  // POWER_STATE_MACHINE_TIMEOUT_ID
  // SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID
  static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::SUS_BOARD_ASS;
  static constexpr Event TRANSITION_OTHER_SIDE_FAILED =
      event::makeEvent(SUBSYSTEM_ID, 0, severity::HIGH);
  static constexpr Event NOT_ENOUGH_DEVICES_DUAL_MODE =
      event::makeEvent(SUBSYSTEM_ID, 1, severity::HIGH);
  static constexpr Event POWER_STATE_MACHINE_TIMEOUT =
      event::makeEvent(SUBSYSTEM_ID, 2, severity::MEDIUM);
  //! [EXPORT] : [COMMENT] Not implemented, would increase already high complexity. Operator
  //! should instead command the assembly off first and then command the assembly on into the
  //! desired mode/submode combination
  static constexpr Event SIDE_SWITCH_TRANSITION_NOT_ALLOWED =
      event::makeEvent(SUBSYSTEM_ID, 3, severity::LOW);

  SusAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
              SusAssHelper helper);

 private:
  enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;
  static constexpr pcduSwitches::Switches SWITCH_NOM =
      pcduSwitches::Switches::PDU1_CH4_SUS_NOMINAL_3V3;
  static constexpr pcduSwitches::Switches SWITCH_RED =
      pcduSwitches::Switches::PDU2_CH4_SUS_REDUNDANT_3V3;
  FixedArrayList<ModeListEntry, NUMBER_SUN_SENSORS> modeTable;

  SusAssHelper helper;
  PowerSwitchIF* pwrSwitcher = nullptr;
  bool tryingOtherSide = false;
  bool dualModeErrorSwitch = true;
  ReturnValue_t initialize() override;

  // AssemblyBase overrides
  ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
  ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
  void handleModeReached() override;

  /**
   * Check whether it makes sense to send mode commands to the device
   * @param object
   * @param mode
   * @return
   */
  bool isUseable(object_id_t object, Mode_t mode);
  void powerStateMachine(Mode_t mode, Submode_t submode);
  ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
  void refreshHelperModes();
};

#endif /* MISSION_SYSTEM_SUSASSEMBLY_H_ */