#include "helperFactory.h"

#include <dummies/AcuDummy.h>
#include <dummies/BpxDummy.h>
#include <dummies/ComCookieDummy.h>
#include <dummies/ComIFDummy.h>
#include <dummies/CoreControllerDummy.h>
#include <dummies/ExecutableComIfDummy.h>
#include <dummies/GpsCtrlDummy.h>
#include <dummies/GpsDhbDummy.h>
#include <dummies/GyroAdisDummy.h>
#include <dummies/GyroL3GD20Dummy.h>
#include <dummies/ImtqDummy.h>
#include <dummies/MgmLIS3MDLDummy.h>
#include <dummies/MgmRm3100Dummy.h>
#include <dummies/P60DockDummy.h>
#include <dummies/PduDummy.h>
#include <dummies/PlPcduDummy.h>
#include <dummies/PlocMpsocDummy.h>
#include <dummies/PlocSupervisorDummy.h>
#include <dummies/RwDummy.h>
#include <dummies/SaDeploymentDummy.h>
#include <dummies/ScexDummy.h>
#include <dummies/StarTrackerDummy.h>
#include <dummies/SusDummy.h>
#include <dummies/SyrlinksDummy.h>
#include <fsfw/devicehandlers/HealthDevice.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <mission/power/gsDefs.h>
#include <mission/system/acs/ImtqAssembly.h>
#include <mission/system/acs/StrAssembly.h>
#include <mission/system/objects/CamSwitcher.h>
#include <mission/system/objects/TcsBoardAssembly.h>

#include "TemperatureSensorInserter.h"
#include "dummies/Max31865Dummy.h"
#include "dummies/Tmp1075Dummy.h"
#include "mission/genericFactory.h"
#include "mission/system/acs/acsModeTree.h"
#include "mission/system/com/comModeTree.h"
#include "mission/system/tree/payloadModeTree.h"
#include "mission/system/tree/tcsModeTree.h"

void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpioIF) {
  new ComIFDummy(objects::DUMMY_COM_IF);
  auto* comCookieDummy = new ComCookieDummy();
  new BpxDummy(objects::BPX_BATT_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
  if (cfg.addCoreCtrlCfg) {
    new CoreControllerDummy(objects::CORE_CONTROLLER);
  }
  if (cfg.addRtdComIFDummy) {
    new ExecutableComIfDummy(objects::SPI_RTD_COM_IF);
  }
  std::array<object_id_t, 4> rwIds = {objects::RW1, objects::RW2, objects::RW3, objects::RW4};
  std::array<DeviceHandlerBase*, 4> rws;
  rws[0] = new RwDummy(objects::RW1, objects::DUMMY_COM_IF, comCookieDummy);
  rws[1] = new RwDummy(objects::RW2, objects::DUMMY_COM_IF, comCookieDummy);
  rws[2] = new RwDummy(objects::RW3, objects::DUMMY_COM_IF, comCookieDummy);
  rws[3] = new RwDummy(objects::RW4, objects::DUMMY_COM_IF, comCookieDummy);
  ObjectFactory::createRwAssy(pwrSwitcher, power::Switches::PDU2_CH2_RW_5V, rws, rwIds);
  new SaDeplDummy(objects::SOLAR_ARRAY_DEPL_HANDLER);
  auto* strAssy = new StrAssembly(objects::STR_ASSY);
  strAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
  auto* strDummy =
      new StarTrackerDummy(objects::STAR_TRACKER, objects::DUMMY_COM_IF, comCookieDummy);
  strDummy->connectModeTreeParent(*strAssy);
  if (cfg.addSyrlinksDummies) {
    auto* syrlinksDummy =
        new SyrlinksDummy(objects::SYRLINKS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
    syrlinksDummy->connectModeTreeParent(satsystem::com::SUBSYSTEM);
  }
  auto* imtqAssy = new ImtqAssembly(objects::IMTQ_ASSY);
  imtqAssy->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
  auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
  imtqDummy->enableThermalModule(ThermalStateCfg());
  imtqDummy->connectModeTreeParent(*imtqAssy);
  if (cfg.addPowerDummies) {
    new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
    new PduDummy(objects::PDU1_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
    new PduDummy(objects::PDU2_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
    new P60DockDummy(objects::P60DOCK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
  }

  if (cfg.addAcsBoardDummies) {
    std::array<DeviceHandlerBase*, 8> assemblyDhbs;
    assemblyDhbs[0] =
        new MgmLIS3MDLDummy(objects::MGM_0_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
    assemblyDhbs[1] =
        new MgmLIS3MDLDummy(objects::MGM_2_LIS3_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
    assemblyDhbs[2] =
        new MgmRm3100Dummy(objects::MGM_1_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
    assemblyDhbs[3] =
        new MgmRm3100Dummy(objects::MGM_3_RM3100_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
    assemblyDhbs[4] =
        new GyroAdisDummy(objects::GYRO_0_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
    assemblyDhbs[5] =
        new GyroL3GD20Dummy(objects::GYRO_1_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
    assemblyDhbs[6] =
        new GyroAdisDummy(objects::GYRO_2_ADIS_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
    assemblyDhbs[7] =
        new GyroL3GD20Dummy(objects::GYRO_3_L3G_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
    auto* gpsCtrl = new GpsCtrlDummy(objects::GPS_CONTROLLER);
    ObjectFactory::createAcsBoardAssy(pwrSwitcher, assemblyDhbs, gpsCtrl, gpioIF);
  }

  if (cfg.addSusDummies) {
    std::array<DeviceHandlerBase*, 12> suses;
    suses[0] =
        new SusDummy(objects::SUS_0_N_LOC_XFYFZM_PT_XF, objects::DUMMY_COM_IF, comCookieDummy);
    suses[1] =
        new SusDummy(objects::SUS_1_N_LOC_XBYFZM_PT_XB, objects::DUMMY_COM_IF, comCookieDummy);
    suses[2] =
        new SusDummy(objects::SUS_2_N_LOC_XFYBZB_PT_YB, objects::DUMMY_COM_IF, comCookieDummy);
    suses[3] =
        new SusDummy(objects::SUS_3_N_LOC_XFYBZF_PT_YF, objects::DUMMY_COM_IF, comCookieDummy);
    suses[4] =
        new SusDummy(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, objects::DUMMY_COM_IF, comCookieDummy);
    suses[5] =
        new SusDummy(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, objects::DUMMY_COM_IF, comCookieDummy);
    suses[6] =
        new SusDummy(objects::SUS_6_R_LOC_XFYBZM_PT_XF, objects::DUMMY_COM_IF, comCookieDummy);
    suses[7] =
        new SusDummy(objects::SUS_7_R_LOC_XBYBZM_PT_XB, objects::DUMMY_COM_IF, comCookieDummy);
    suses[8] =
        new SusDummy(objects::SUS_8_R_LOC_XBYBZB_PT_YB, objects::DUMMY_COM_IF, comCookieDummy);
    suses[9] =
        new SusDummy(objects::SUS_9_R_LOC_XBYBZB_PT_YF, objects::DUMMY_COM_IF, comCookieDummy);
    suses[10] =
        new SusDummy(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::DUMMY_COM_IF, comCookieDummy);
    suses[11] =
        new SusDummy(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, objects::DUMMY_COM_IF, comCookieDummy);
    ObjectFactory::createSusAssy(pwrSwitcher, suses);
  }

  if (cfg.addTempSensorDummies) {
    std::map<object_id_t, Max31865Dummy*> rtdSensorDummies;
    rtdSensorDummies.emplace(objects::RTD_0_IC3_PLOC_HEATSPREADER,
                             new Max31865Dummy(objects::RTD_0_IC3_PLOC_HEATSPREADER,
                                               objects::DUMMY_COM_IF, comCookieDummy));
    rtdSensorDummies.emplace(objects::RTD_1_IC4_PLOC_MISSIONBOARD,
                             new Max31865Dummy(objects::RTD_1_IC4_PLOC_MISSIONBOARD,
                                               objects::DUMMY_COM_IF, comCookieDummy));
    rtdSensorDummies.emplace(
        objects::RTD_2_IC5_4K_CAMERA,
        new Max31865Dummy(objects::RTD_2_IC5_4K_CAMERA, objects::DUMMY_COM_IF, comCookieDummy));
    rtdSensorDummies.emplace(objects::RTD_3_IC6_DAC_HEATSPREADER,
                             new Max31865Dummy(objects::RTD_3_IC6_DAC_HEATSPREADER,
                                               objects::DUMMY_COM_IF, comCookieDummy));
    rtdSensorDummies.emplace(
        objects::RTD_4_IC7_STARTRACKER,
        new Max31865Dummy(objects::RTD_4_IC7_STARTRACKER, objects::DUMMY_COM_IF, comCookieDummy));
    rtdSensorDummies.emplace(
        objects::RTD_5_IC8_RW1_MX_MY,
        new Max31865Dummy(objects::RTD_5_IC8_RW1_MX_MY, objects::DUMMY_COM_IF, comCookieDummy));
    rtdSensorDummies.emplace(
        objects::RTD_6_IC9_DRO,
        new Max31865Dummy(objects::RTD_6_IC9_DRO, objects::DUMMY_COM_IF, comCookieDummy));
    rtdSensorDummies.emplace(
        objects::RTD_7_IC10_SCEX,
        new Max31865Dummy(objects::RTD_7_IC10_SCEX, objects::DUMMY_COM_IF, comCookieDummy));
    rtdSensorDummies.emplace(
        objects::RTD_8_IC11_X8,
        new Max31865Dummy(objects::RTD_8_IC11_X8, objects::DUMMY_COM_IF, comCookieDummy));
    rtdSensorDummies.emplace(
        objects::RTD_9_IC12_HPA,
        new Max31865Dummy(objects::RTD_9_IC12_HPA, objects::DUMMY_COM_IF, comCookieDummy));
    rtdSensorDummies.emplace(
        objects::RTD_10_IC13_PL_TX,
        new Max31865Dummy(objects::RTD_10_IC13_PL_TX, objects::DUMMY_COM_IF, comCookieDummy));
    rtdSensorDummies.emplace(
        objects::RTD_11_IC14_MPA,
        new Max31865Dummy(objects::RTD_11_IC14_MPA, objects::DUMMY_COM_IF, comCookieDummy));
    rtdSensorDummies.emplace(
        objects::RTD_12_IC15_ACU,
        new Max31865Dummy(objects::RTD_12_IC15_ACU, objects::DUMMY_COM_IF, comCookieDummy));
    rtdSensorDummies.emplace(objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
                             new Max31865Dummy(objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
                                               objects::DUMMY_COM_IF, comCookieDummy));
    rtdSensorDummies.emplace(
        objects::RTD_14_IC17_TCS_BOARD,
        new Max31865Dummy(objects::RTD_14_IC17_TCS_BOARD, objects::DUMMY_COM_IF, comCookieDummy));
    rtdSensorDummies.emplace(
        objects::RTD_15_IC18_IMTQ,
        new Max31865Dummy(objects::RTD_15_IC18_IMTQ, objects::DUMMY_COM_IF, comCookieDummy));

    std::map<object_id_t, Tmp1075Dummy*> tmpSensorDummies;
    tmpSensorDummies.emplace(
        objects::TMP1075_HANDLER_TCS_0,
        new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_0, objects::DUMMY_COM_IF, comCookieDummy));
    tmpSensorDummies.emplace(
        objects::TMP1075_HANDLER_TCS_1,
        new Tmp1075Dummy(objects::TMP1075_HANDLER_TCS_1, objects::DUMMY_COM_IF, comCookieDummy));
    tmpSensorDummies.emplace(
        objects::TMP1075_HANDLER_PLPCDU_0,
        new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_0, objects::DUMMY_COM_IF, comCookieDummy));
    // damaged.
    //    tmpSensorDummies.emplace(
    //        objects::TMP1075_HANDLER_PLPCDU_1,
    //        new Tmp1075Dummy(objects::TMP1075_HANDLER_PLPCDU_1, objects::DUMMY_COM_IF,
    //        comCookieDummy));
    tmpSensorDummies.emplace(
        objects::TMP1075_HANDLER_IF_BOARD,
        new Tmp1075Dummy(objects::TMP1075_HANDLER_IF_BOARD, objects::DUMMY_COM_IF, comCookieDummy));

    new TemperatureSensorInserter(objects::THERMAL_TEMP_INSERTER, rtdSensorDummies,
                                  tmpSensorDummies);
    TcsBoardAssembly* tcsBoardAssy = ObjectFactory::createTcsBoardAssy(pwrSwitcher);
    for (auto& rtd : rtdSensorDummies) {
      rtd.second->connectModeTreeParent(*tcsBoardAssy);
    }
    for (auto& tmp : tmpSensorDummies) {
      tmp.second->connectModeTreeParent(satsystem::tcs::SUBSYSTEM);
    }
  }
  auto* camSwitcher =
      new CamSwitcher(objects::CAM_SWITCHER, pwrSwitcher, power::Switches::PDU2_CH8_PAYLOAD_CAMERA);
  camSwitcher->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
  auto* scexDummy = new ScexDummy(objects::SCEX, objects::DUMMY_COM_IF, comCookieDummy);
  scexDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
  auto* plPcduDummy =
      new PlPcduDummy(objects::PLPCDU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
  plPcduDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
  if (cfg.addPlocDummies) {
    auto* plocMpsocDummy =
        new PlocMpsocDummy(objects::PLOC_MPSOC_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
    plocMpsocDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
    auto* plocSupervisorDummy = new PlocSupervisorDummy(
        objects::PLOC_SUPERVISOR_HANDLER, objects::DUMMY_COM_IF, comCookieDummy, pwrSwitcher);
    plocSupervisorDummy->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
  }
}