#include "AcsBoardAssembly.h"

#include <devices/gpioIds.h>
#include <fsfw/power/PowerSwitchIF.h>
#include <fsfw/serviceinterface.h>

AcsBoardAssembly::AcsBoardAssembly(object_id_t objectId, object_id_t parentId,
                                   PowerSwitchIF* switcher, AcsBoardHelper helper, GpioIF* gpioIF)
    : AssemblyBase(objectId, parentId),
      pwrStateMachine(SWITCH_A, SWITCH_B, switcher, state),
      helper(helper),
      gpioIF(gpioIF) {
  if (switcher == nullptr) {
    sif::error << "AcsBoardAssembly::AcsBoardAssembly: Invalid Power Switcher "
                  "IF passed"
               << std::endl;
  }
  if (gpioIF == nullptr) {
    sif::error << "AcsBoardAssembly::AcsBoardAssembly: Invalid GPIO IF passed" << std::endl;
  }
  ModeListEntry entry;
  initModeTableEntry(helper.mgm0Lis3IdSideA, entry);
  initModeTableEntry(helper.mgm1Rm3100IdSideA, entry);
  initModeTableEntry(helper.mgm2Lis3IdSideB, entry);
  initModeTableEntry(helper.mgm3Rm3100IdSideB, entry);
  initModeTableEntry(helper.gyro0AdisIdSideA, entry);
  initModeTableEntry(helper.gyro1L3gIdSideA, entry);
  initModeTableEntry(helper.gyro2AdisIdSideB, entry);
  initModeTableEntry(helper.gyro3L3gIdSideB, entry);
  initModeTableEntry(helper.gpsId, entry);
}

void AcsBoardAssembly::performChildOperation() {
  using namespace duallane;
  if (state == PwrStates::SWITCHING_POWER or state == PwrStates::CHECKING_POWER) {
    if (targetMode != MODE_OFF) {
      pwrStateMachineWrapper(targetMode, targetSubmode);
    }
    // This state is the indicator that the power state machine is done
    if (state == PwrStates::MODE_COMMANDING) {
      AssemblyBase::performChildOperation();
    }
  } else {
    AssemblyBase::performChildOperation();
    // This state is the indicator that the mode state machine is done
    if (state == PwrStates::SWITCHING_POWER) {
      pwrStateMachineWrapper(targetMode, targetSubmode);
    }
  }
}

void AcsBoardAssembly::startTransition(Mode_t mode, Submode_t submode) {
  using namespace duallane;
  // If anything other than MODE_OFF is commanded, perform power state machine first
  if (mode != MODE_OFF) {
    if (state != PwrStates::IDLE) {
      state = PwrStates::IDLE;
    }
    // Cache the target modes, required by power state machine
    targetMode = mode;
    targetSubmode = submode;
    state = PwrStates::SWITCHING_POWER;
    // Perform power state machine first, then start mode transition. The power state machine will
    // start the transition after it has finished
    pwrStateMachineWrapper(mode, submode);
  } else {
    // Command the devices to off first before switching off the power. The handleModeReached
    // custom implementation will take care of starting the power state machine.
    AssemblyBase::startTransition(mode, submode);
  }
}

ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode) {
  using namespace duallane;
  ReturnValue_t result = RETURN_OK;
  refreshHelperModes();
  pwrStateMachineWrapper(mode, submode);
  if (state == PwrStates::MODE_COMMANDING) {
    if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
      result = handleNormalOrOnModeCmd(mode, submode);
    } else {
      modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
      modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
      modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
      modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
      modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
      modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
      modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
      modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
      modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
      modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
      modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
      modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
      modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
      modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
      modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
      modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
      modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
      modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
    }
    HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
    executeTable(tableIter);
  }
  return result;
}

ReturnValue_t AcsBoardAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) {
  using namespace duallane;
  refreshHelperModes();
  if (state == PwrStates::SWITCHING_POWER) {
    // Wrong mode
    sif::error << "Wrong mode, currently switching power" << std::endl;
    return RETURN_OK;
  }
  if (wantedSubmode == A_SIDE) {
    if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode) or
        (helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode) or
        helper.gpsMode != MODE_ON) {
      return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
    }
    return RETURN_OK;
  } else if (wantedSubmode == B_SIDE) {
    if ((helper.gyro2SideBMode != wantedMode and helper.gyro3SideBMode != wantedMode) or
        (helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
        helper.gpsMode != MODE_ON) {
      return NOT_ENOUGH_CHILDREN_IN_CORRECT_STATE;
    }
    return RETURN_OK;
  } else if (wantedSubmode == DUAL_MODE) {
    if ((helper.gyro0SideAMode != wantedMode and helper.gyro1SideAMode != wantedMode and
         helper.gyro2AdisIdSideB != wantedMode and helper.gyro3SideBMode != wantedMode) or
        (helper.mgm0SideAMode != wantedMode and helper.mgm1SideAMode != wantedMode and
         helper.mgm2SideBMode != wantedMode and helper.mgm3SideBMode != wantedMode) or
        helper.gpsMode != MODE_ON) {
      // Trigger event, but don't start any other transitions. This is the last fallback mode.
      if (dualModeErrorSwitch) {
        triggerEvent(NOT_ENOUGH_DEVICES_DUAL_MODE, 0, 0);
        dualModeErrorSwitch = false;
      }
      return RETURN_OK;
    }
    return RETURN_OK;
  }
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
  using namespace duallane;
  ReturnValue_t result = RETURN_OK;
  auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, ModeTableIdx tableIdx) {
    if (mode == DeviceHandlerIF::MODE_NORMAL) {
      if (isUseable(objectId, devMode)) {
        if (devMode == MODE_ON) {
          modeTable[tableIdx].setMode(mode);
          modeTable[tableIdx].setSubmode(SUBMODE_NONE);

        } else {
          modeTable[tableIdx].setMode(MODE_ON);
          modeTable[tableIdx].setSubmode(SUBMODE_NONE);
        }
      }
    } else if (mode == MODE_ON) {
      if (isUseable(objectId, devMode)) {
        modeTable[tableIdx].setMode(MODE_ON);
        modeTable[tableIdx].setSubmode(SUBMODE_NONE);
      }
    }
  };
  if (this->mode == MODE_OFF and mode == DeviceHandlerIF::MODE_NORMAL) {
    if (internalState != STATE_SECOND_STEP) {
      result = NEED_SECOND_STEP;
    }
  }
  switch (submode) {
    case (A_SIDE): {
      cmdSeq(helper.gyro0AdisIdSideA, helper.gyro0SideAMode, ModeTableIdx::GYRO_0_A);
      cmdSeq(helper.gyro1L3gIdSideA, helper.gyro1SideAMode, ModeTableIdx::GYRO_1_A);
      cmdSeq(helper.mgm0Lis3IdSideA, helper.mgm0SideAMode, ModeTableIdx::MGM_0_A);
      cmdSeq(helper.mgm1Rm3100IdSideA, helper.mgm1SideAMode, ModeTableIdx::MGM_1_A);
      modeTable[ModeTableIdx::GPS].setMode(MODE_ON);
      modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
      if (gpioIF->pullLow(gpioIds::GNSS_SELECT) != HasReturnvaluesIF::RETURN_OK) {
#if OBSW_VERBOSE_LEVEL >= 1
        sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select low"
                   << std::endl;
#endif
      }
      modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
      modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
      modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
      modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
      modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
      modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
      modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
      modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
      return result;
    }
    case (B_SIDE): {
      cmdSeq(helper.gyro2AdisIdSideB, helper.gyro2SideBMode, ModeTableIdx::GYRO_2_B);
      cmdSeq(helper.gyro3L3gIdSideB, helper.gyro3SideBMode, ModeTableIdx::GYRO_3_B);
      cmdSeq(helper.mgm2Lis3IdSideB, helper.mgm2SideBMode, ModeTableIdx::MGM_2_B);
      cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
      cmdSeq(helper.gpsId, helper.gpsMode, ModeTableIdx::GPS);
      if (gpioIF->pullHigh(gpioIds::GNSS_SELECT) != HasReturnvaluesIF::RETURN_OK) {
#if OBSW_VERBOSE_LEVEL >= 1
        sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select high"
                   << std::endl;
#endif
      }
      modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
      modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
      modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
      modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
      modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
      modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
      modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
      modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
      return result;
    }
    case (DUAL_MODE): {
      cmdSeq(helper.gpsId, helper.gpsMode, ModeTableIdx::GPS);
      cmdSeq(helper.gyro0AdisIdSideA, helper.gyro0SideAMode, ModeTableIdx::GYRO_0_A);
      cmdSeq(helper.gyro1L3gIdSideA, helper.gyro1SideAMode, ModeTableIdx::GYRO_1_A);
      cmdSeq(helper.mgm0Lis3IdSideA, helper.mgm0SideAMode, ModeTableIdx::MGM_0_A);
      cmdSeq(helper.mgm1Rm3100IdSideA, helper.mgm1SideAMode, ModeTableIdx::MGM_1_A);
      cmdSeq(helper.gyro2AdisIdSideB, helper.gyro2SideBMode, ModeTableIdx::GYRO_2_B);
      cmdSeq(helper.gyro3L3gIdSideB, helper.gyro3SideBMode, ModeTableIdx::GYRO_3_B);
      cmdSeq(helper.mgm2Lis3IdSideB, helper.mgm2SideBMode, ModeTableIdx::MGM_2_B);
      cmdSeq(helper.mgm3Rm3100IdSideB, helper.mgm3SideBMode, ModeTableIdx::MGM_3_B);
      ReturnValue_t status = RETURN_OK;
      if (defaultSubmode == Submodes::A_SIDE) {
        status = gpioIF->pullLow(gpioIds::GNSS_SELECT);
      } else {
        status = gpioIF->pullHigh(gpioIds::GNSS_SELECT);
      }
      if (status != HasReturnvaluesIF::RETURN_OK) {
#if OBSW_VERBOSE_LEVEL >= 1
        sif::error << "AcsBoardAssembly::handleNormalOrOnModeCmd: Could not pull GNSS select to"
                      "default side for dual mode"
                   << std::endl;
#endif
      }
      return result;
    }
    default: {
      sif::error << "AcsBoardAssembly::handleNormalModeCmd: Unknown submode" << std::endl;
    }
  }
  return result;
}

ReturnValue_t AcsBoardAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
  using namespace duallane;
  if (submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE) {
    return HasReturnvaluesIF::RETURN_FAILED;
  }
  return HasReturnvaluesIF::RETURN_OK;
}

bool AcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
  if (healthHelper.healthTable->isFaulty(object)) {
    return false;
  }

  // Check if device is already in target mode
  if (childrenMap[object].mode == mode) {
    return true;
  }

  if (healthHelper.healthTable->isCommandable(object)) {
    return true;
  }
  return false;
}

void AcsBoardAssembly::handleModeReached() {
  using namespace duallane;
  if (targetMode == MODE_OFF) {
    if (state != PwrStates::IDLE) {
      state = PwrStates::IDLE;
    }
    state = PwrStates::SWITCHING_POWER;
    // Now we can switch off the power. After that, the AssemblyBase::handleModeReached function
    // will be called
    pwrStateMachineWrapper(targetMode, targetSubmode);
  } else {
    finishModeOp();
  }
}

void AcsBoardAssembly::handleChildrenLostMode(ReturnValue_t result) {
  using namespace duallane;
  // Some ACS board components are required for Safe-Mode. It would be good if the software
  // transitions from A side to B side and from B side to dual mode autonomously
  // to ensure that that enough sensors are available without an operators intervention.
  // Therefore, the lost mode handler was overwritten to start these transitions
  Submode_t nextSubmode = Submodes::A_SIDE;
  if (submode == Submodes::A_SIDE) {
    nextSubmode = Submodes::B_SIDE;
  }
  if (not tryingOtherSide) {
    triggerEvent(CANT_KEEP_MODE, mode, submode);
    startTransition(mode, nextSubmode);
    tryingOtherSide = true;
  } else {
    // Not sure when this would happen. This flag is reset if the mode was reached. If it
    // was not reached, the transition failure handler should be called.
    sif::error << "AcsBoardAssembly::handleChildrenLostMode: Wrong handler called" << std::endl;
    triggerEvent(TRANSITION_OTHER_SIDE_FAILED, mode, targetSubmode);
    startTransition(mode, Submodes::DUAL_MODE);
  }
}

void AcsBoardAssembly::handleModeTransitionFailed(ReturnValue_t result) {
  using namespace duallane;
  Submode_t nextSubmode = Submodes::A_SIDE;
  if (submode == Submodes::A_SIDE) {
    nextSubmode = Submodes::B_SIDE;
  }
  // Check whether the transition was started because the mode could not be kept (not commanded).
  // If this is not the case, start transition to other side. If it is the case, start
  // transition to dual mode.
  if (not tryingOtherSide) {
    triggerEvent(CANT_KEEP_MODE, mode, submode);
    startTransition(mode, nextSubmode);
    tryingOtherSide = true;
  } else {
    triggerEvent(TRANSITION_OTHER_SIDE_FAILED, mode, targetSubmode);
    startTransition(mode, Submodes::DUAL_MODE);
  }
}

void AcsBoardAssembly::setPreferredSide(duallane::Submodes submode) {
  using namespace duallane;
  if (submode != Submodes::A_SIDE and submode != Submodes::B_SIDE) {
    return;
  }
  this->defaultSubmode = submode;
}

void AcsBoardAssembly::selectGpsInDualMode(duallane::Submodes side) {
  using namespace duallane;
  if (submode != Submodes::DUAL_MODE) {
    return;
  }
  ReturnValue_t result = RETURN_OK;
  if (side == Submodes::A_SIDE) {
    result = gpioIF->pullLow(gpioIds::GNSS_SELECT);
  } else {
    result = gpioIF->pullHigh(gpioIds::GNSS_SELECT);
  }
  if (result != HasReturnvaluesIF::RETURN_OK) {
#if OBSW_VERBOSE_LEVEL >= 1
    sif::error << "AcsBoardAssembly::switchGpsInDualMode: Switching GPS failed" << std::endl;
#endif
  }
}

void AcsBoardAssembly::refreshHelperModes() {
  try {
    helper.gyro0SideAMode = childrenMap.at(helper.gyro0AdisIdSideA).mode;
    helper.gyro1SideAMode = childrenMap.at(helper.gyro1L3gIdSideA).mode;
    helper.gyro2SideBMode = childrenMap.at(helper.gyro2AdisIdSideB).mode;
    helper.gyro3SideBMode = childrenMap.at(helper.gyro2AdisIdSideB).mode;
    helper.mgm0SideAMode = childrenMap.at(helper.mgm0Lis3IdSideA).mode;
    helper.mgm1SideAMode = childrenMap.at(helper.mgm1Rm3100IdSideA).mode;
    helper.mgm2SideBMode = childrenMap.at(helper.mgm2Lis3IdSideB).mode;
    helper.mgm3SideBMode = childrenMap.at(helper.mgm3Rm3100IdSideB).mode;
    helper.gpsMode = childrenMap.at(helper.gpsId).mode;
  } catch (const std::out_of_range& e) {
    sif::error << "AcsBoardAssembly::refreshHelperModes: Invalid map: " << e.what() << std::endl;
  }
}

void AcsBoardAssembly::initModeTableEntry(object_id_t id, ModeListEntry& entry) {
  entry.setObject(id);
  entry.setMode(MODE_OFF);
  entry.setSubmode(SUBMODE_NONE);
  entry.setInheritSubmode(false);
  modeTable.insert(entry);
}

void AcsBoardAssembly::finishModeOp() {
  using namespace duallane;
  AssemblyBase::handleModeReached();
  state = PwrStates::IDLE;
  tryingOtherSide = false;
  dualModeErrorSwitch = true;
}

void AcsBoardAssembly::pwrStateMachineWrapper(Mode_t mode, Submode_t submode) {
  using namespace duallane;
  OpCodes opCode = pwrStateMachine.powerStateMachine(mode, submode);
  if (opCode == OpCodes::NONE) {
    return;
  } else if (opCode == OpCodes::FINISH_OP) {
    finishModeOp();
  } else if (opCode == OpCodes::START_TRANSITION) {
    AssemblyBase::startTransition(mode, submode);
  }
}

ReturnValue_t AcsBoardAssembly::initialize() {
  ReturnValue_t result = registerChild(helper.gyro0AdisIdSideA);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }
  result = registerChild(helper.gyro1L3gIdSideA);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }
  result = registerChild(helper.gyro2AdisIdSideB);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }
  result = registerChild(helper.gyro3L3gIdSideB);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }
  result = registerChild(helper.mgm0Lis3IdSideA);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }
  result = registerChild(helper.mgm1Rm3100IdSideA);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }
  result = registerChild(helper.mgm2Lis3IdSideB);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }
  result = registerChild(helper.mgm3Rm3100IdSideB);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }
  result = registerChild(helper.gpsId);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }
  return AssemblyBase::initialize();
}