#ifndef LINUX_DEVICES_ACSBOARDPOLLING_H_
#define LINUX_DEVICES_ACSBOARDPOLLING_H_

#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/objectmanager/SystemObject.h>
#include <fsfw/tasks/ExecutableObjectIF.h>
#include <fsfw/tasks/SemaphoreIF.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <mission/devices/devicedefinitions/acsPolling.h>
#include <mission/devices/devicedefinitions/gyroAdisHelpers.h>

class AcsBoardPolling : public SystemObject,
                        public ExecutableObjectIF,
                        public DeviceCommunicationIF {
 public:
  AcsBoardPolling(object_id_t objectId, SpiComIF& lowLevelComIF, GpioIF& gpioIF);

  ReturnValue_t performOperation(uint8_t operationCode) override;
  ReturnValue_t initialize() override;

 private:
  enum class InternalState { IDLE, BUSY } state = InternalState::IDLE;
  MutexIF* ipcLock;
  SemaphoreIF* semaphore;
  std::array<uint8_t, 32> cmdBuf;
  std::array<uint8_t, 32> replyBuf;

  bool mgm0L3IsOn = false;
  SpiCookie* mgm0L3Cookie = nullptr;
  bool mgm1Rm3100IsOn = false;
  SpiCookie* mgm1Rm3100Cookie = nullptr;
  bool mgm2L3IsOn = false;
  SpiCookie* mgm2L3Cookie = nullptr;
  bool mgm3Rm3100IsOn = false;
  SpiCookie* mgm3Rm3100Cookie = nullptr;

  struct GyroAdis {
    adis1650x::Type type;
    bool isOn = false;
    bool performStartup = false;
    SpiCookie* cookie = nullptr;
    Countdown countdown;
    acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
    ReturnValue_t replyResult;
    acs::Adis1650XReply ownReply;
    acs::Adis1650XReply readerReply;
  };
  GyroAdis gyro0Adis{};
  GyroAdis gyro2Adis{};

  struct GyroL3g {
    bool performStartup = false;
    SpiCookie* cookie = nullptr;
    acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
    uint8_t sensorCfg[5];
    ReturnValue_t replyResult;
    acs::GyroL3gReply ownReply;
    acs::GyroL3gReply readerReply;
  };
  GyroL3g gyro1L3g{};
  GyroL3g gyro3L3g{};

  uint8_t* rawReply = nullptr;
  size_t dummy = 0;

  SpiComIF& spiComIF;
  GpioIF& gpioIF;

  ReturnValue_t initializeInterface(CookieIF* cookie) override;
  ReturnValue_t sendMessage(CookieIF* cookie, const uint8_t* sendData, size_t sendLen) override;
  ReturnValue_t getSendSuccess(CookieIF* cookie) override;
  ReturnValue_t requestReceiveMessage(CookieIF* cookie, size_t requestLen) override;
  ReturnValue_t readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) override;

  void gyroL3gHandler(GyroL3g& l3g);
  void gyroAdisHandler(GyroAdis& gyro);
  // Special readout: 16us stall time between small 2 byte transfers.
  ReturnValue_t readAdisCfg(SpiCookie& spiCookie, size_t transferLen);
};

#endif /* LINUX_DEVICES_ACSBOARDPOLLING_H_ */