#ifndef GUIDANCE_H_
#define GUIDANCE_H_

#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <mission/controller/acs/AcsParameters.h>
#include <mission/controller/acs/SensorValues.h>
#include <mission/controller/acs/util/MathOperations.h>
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
#include <time.h>

#include <cmath>
#include <filesystem>
#include <string>

class Guidance {
 public:
  Guidance(AcsParameters *acsParameters_);
  virtual ~Guidance();

  void getTargetParamsSafe(double sunTargetSafe[3]);
  ReturnValue_t solarArrayDeploymentComplete();
  void resetValues();

  // Function to get the target quaternion and reference rotation rate from gps position and
  // position of the ground station
  void targetQuatPtgSingleAxis(const timeval timeAbsolute, double posSatE[3], double velSatE[3],
                               double sunDirI[3], double refDirB[3], double quatBI[4],
                               double targetQuat[4], double targetSatRotRate[3]);
  void targetQuatPtgThreeAxes(const timeval timeAbsolute, const double timeDelta, double posSatE[3],
                              double velSatE[3], double quatIX[4], double targetSatRotRate[3]);
  void targetQuatPtgGs(const timeval timeAbsolute, const double timeDelta, double posSatE[3],
                       double sunDirI[3], double quatIX[4], double targetSatRotRate[3]);

  // Function to get the target quaternion and reference rotation rate for sun pointing after ground
  // station
  void targetQuatPtgSun(const double timeDelta, double sunDirI[3], double targetQuat[4],
                        double targetSatRotRate[3]);

  // Function to get the target quaternion and refence rotation rate from gps position for Nadir
  // pointing
  void targetQuatPtgNadirSingleAxis(const timeval timeAbsolute, double posSatE[3], double quatBI[4],
                                    double targetQuat[4], double refDirB[3], double refSatRate[3]);
  void targetQuatPtgNadirThreeAxes(const timeval timeAbsolute, const double timeDelta,
                                   double posSatE[3], double velSatE[3], double targetQuat[4],
                                   double refSatRate[3]);

  // @note: Calculates the error quaternion between the current orientation and the target
  // quaternion, considering a reference quaternion. Additionally the difference between the actual
  // and a desired satellite rotational rate is calculated, again considering a reference rotational
  // rate. Lastly gives back the error angle of the error quaternion.
  void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
                  double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
                  double errorQuat[4], double errorSatRotRate[3], double &errorAngle);
  void comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
                  double targetSatRotRate[3], double errorQuat[4], double errorSatRotRate[3],
                  double &errorAngle);

  void targetRotationRate(const int8_t timeElapsedMax, const double timeDelta,
                          double quatInertialTarget[4], double *targetSatRotRate);

  // @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
  // reation wheel 	maybe can be done in "commanding.h"
  ReturnValue_t getDistributionMatrixRw(ACS::SensorValues *sensorValues, double *rwPseudoInv);

  //! [EXPORT] : [COMMENT] A single RW has failed.
  static constexpr ReturnValue_t SINGLE_RW_UNAVAILABLE =
      returnvalue::makeCode(acsctrl::IF_ACS_CTRL_ID, 3);
  //! [EXPORT] : [COMMENT] Multiple RWs have failed.
  static constexpr ReturnValue_t MULTIPLE_RW_UNAVAILABLE =
      returnvalue::makeCode(acsctrl::IF_ACS_CTRL_ID, 4);

 private:
  const AcsParameters *acsParameters;

  static constexpr double ZERO_VEC3[3] = {0, 0, 0};
  static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};

  bool strBlindAvoidFlag = false;
  double quatIXprev[4] = {0, 0, 0, 0};

  static constexpr char SD_0_SKEWED_PTG_FILE[] = "/mnt/sd0/conf/acsDeploymentConfirm";
  static constexpr char SD_1_SKEWED_PTG_FILE[] = "/mnt/sd1/conf/acsDeploymentConfirm";
};

#endif /* ACS_GUIDANCE_H_ */