#include "ObjectFactory.h"

#include <fsfw/power/PowerSwitchIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>
#include <fsfw_hal/common/gpio/GpioIF.h>
#include <fsfw_hal/common/gpio/gpioDefinitions.h>
#include <fsfw_hal/linux/spi/SpiComIF.h>
#include <fsfw_hal/linux/spi/SpiCookie.h>
#include <linux/callbacks/gpioCallbacks.h>
#include <mission/devices/Max31865PT1000Handler.h>
#include <mission/devices/SusHandler.h>
#include <mission/system/SusAssembly.h>
#include <mission/system/TcsBoardAssembly.h>
#include <mission/system/fdir/RtdFdir.h>
#include <mission/system/fdir/SusFdir.h>

#include "OBSWConfig.h"
#include "devConf.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"

void ObjectFactory::createSunSensorComponents(GpioIF* gpioComIF, SpiComIF* spiComIF,
                                              PowerSwitchIF* pwrSwitcher, std::string spiDev) {
  using namespace gpio;
  GpioCookie* gpioCookieSus = new GpioCookie();
  GpioCallback* susgpio = nullptr;

  susgpio = new GpioCallback("Chip select SUS 0", Direction::OUT, Levels::HIGH,
                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  gpioCookieSus->addGpio(gpioIds::CS_SUS_0, susgpio);
  susgpio = new GpioCallback("Chip select SUS 1", Direction::OUT, Levels::HIGH,
                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
  susgpio = new GpioCallback("Chip select SUS 2", Direction::OUT, Levels::HIGH,
                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
  susgpio = new GpioCallback("Chip select SUS 3", Direction::OUT, Levels::HIGH,
                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
  susgpio = new GpioCallback("Chip select SUS 4", Direction::OUT, Levels::HIGH,
                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
  susgpio = new GpioCallback("Chip select SUS 5", Direction::OUT, Levels::HIGH,
                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
  susgpio = new GpioCallback("Chip select SUS 6", Direction::OUT, Levels::HIGH,
                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
  susgpio = new GpioCallback("Chip select SUS 7", Direction::OUT, Levels::HIGH,
                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
  susgpio = new GpioCallback("Chip select SUS 8", Direction::OUT, Levels::HIGH,
                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
  susgpio = new GpioCallback("Chip select SUS 9", Direction::OUT, Levels::HIGH,
                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
  susgpio = new GpioCallback("Chip select SUS 10", Direction::OUT, Levels::HIGH,
                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
  susgpio = new GpioCallback("Chip select SUS 11", Direction::OUT, Levels::HIGH,
                             &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);

  gpioChecker(gpioComIF->addGpios(gpioCookieSus), "Sun Sensors");

#if OBSW_ADD_SUN_SENSORS == 1
  SusFdir* fdir = nullptr;
  std::array<SusHandler*, 12> susHandlers = {};
  SpiCookie* spiCookie =
      new SpiCookie(addresses::SUS_0, gpioIds::CS_SUS_0, spiDev, SUS::MAX_CMD_SIZE,
                    spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  susHandlers[0] =
      new SusHandler(objects::SUS_0_N_LOC_XFYFZM_PT_XF, 0, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
  susHandlers[0]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[0]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_1, gpioIds::CS_SUS_1, spiDev, SUS::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  susHandlers[1] =
      new SusHandler(objects::SUS_1_N_LOC_XBYFZM_PT_XB, 1, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
  susHandlers[1]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[1]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_2, gpioIds::CS_SUS_2, spiDev, SUS::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  susHandlers[2] =
      new SusHandler(objects::SUS_2_N_LOC_XFYBZB_PT_YB, 2, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
  susHandlers[2]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[2]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_3, gpioIds::CS_SUS_3, spiDev, SUS::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  susHandlers[3] =
      new SusHandler(objects::SUS_3_N_LOC_XFYBZF_PT_YF, 3, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
  susHandlers[3]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[3]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_4, gpioIds::CS_SUS_4, spiDev, SUS::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  susHandlers[4] =
      new SusHandler(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, 4, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
  susHandlers[4]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[4]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_5, gpioIds::CS_SUS_5, spiDev, SUS::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  susHandlers[5] =
      new SusHandler(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, 5, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
  susHandlers[5]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[5]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_6, gpioIds::CS_SUS_6, spiDev, SUS::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  susHandlers[6] =
      new SusHandler(objects::SUS_6_R_LOC_XFYBZM_PT_XF, 6, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
  susHandlers[6]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[6]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_7, gpioIds::CS_SUS_7, spiDev, SUS::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  susHandlers[7] =
      new SusHandler(objects::SUS_7_R_LOC_XBYBZM_PT_XB, 7, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
  susHandlers[7]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[7]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_8, gpioIds::CS_SUS_8, spiDev, SUS::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  susHandlers[8] =
      new SusHandler(objects::SUS_8_R_LOC_XBYBZB_PT_YB, 8, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
  susHandlers[8]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[8]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_9, gpioIds::CS_SUS_9, spiDev, SUS::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  susHandlers[9] =
      new SusHandler(objects::SUS_9_R_LOC_XBYBZB_PT_YF, 9, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
  susHandlers[9]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[9]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_10, gpioIds::CS_SUS_10, spiDev, SUS::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  susHandlers[10] =
      new SusHandler(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, 10, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
  susHandlers[10]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[10]->setCustomFdir(fdir);

  spiCookie = new SpiCookie(addresses::SUS_11, gpioIds::CS_SUS_11, spiDev, SUS::MAX_CMD_SIZE,
                            spi::SUS_MAX_1227_MODE, spi::SUS_MAX1227_SPI_FREQ);
  susHandlers[11] =
      new SusHandler(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, 11, objects::SPI_MAIN_COM_IF, spiCookie);
  fdir = new SusFdir(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
  susHandlers[11]->setParent(objects::SUS_BOARD_ASS);
  susHandlers[11]->setCustomFdir(fdir);

  for (auto& sus : susHandlers) {
    if (sus != nullptr) {
#if OBSW_TEST_SUS == 1
      sus->setStartUpImmediately();
      sus->setToGoToNormalMode(true);
#endif
#if OBSW_DEBUG_SUS == 1
      sus->enablePeriodicPrintout(true, 3);
#endif
    }
  }
  std::array<object_id_t, 12> susIds = {
      objects::SUS_0_N_LOC_XFYFZM_PT_XF,  objects::SUS_1_N_LOC_XBYFZM_PT_XB,
      objects::SUS_2_N_LOC_XFYBZB_PT_YB,  objects::SUS_3_N_LOC_XFYBZF_PT_YF,
      objects::SUS_4_N_LOC_XMYFZF_PT_ZF,  objects::SUS_5_N_LOC_XFYMZB_PT_ZB,
      objects::SUS_6_R_LOC_XFYBZM_PT_XF,  objects::SUS_7_R_LOC_XBYBZM_PT_XB,
      objects::SUS_8_R_LOC_XBYBZB_PT_YB,  objects::SUS_9_R_LOC_XBYBZB_PT_YF,
      objects::SUS_10_N_LOC_XMYBZF_PT_ZF, objects::SUS_11_R_LOC_XBYMZB_PT_ZB};
  SusAssHelper susAssHelper = SusAssHelper(susIds);
  auto susAss =
      new SusAssembly(objects::SUS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher, susAssHelper);
  static_cast<void>(susAss);
#endif /* OBSW_ADD_SUN_SENSORS == 1 */
}

void ObjectFactory::createRtdComponents(std::string spiDev, GpioIF* gpioComIF,
                                        PowerSwitchIF* pwrSwitcher) {
  using namespace gpio;
  GpioCookie* rtdGpioCookie = new GpioCookie;

  GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", Direction::OUT, Levels::HIGH,
                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc0);
  GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", Direction::OUT, Levels::HIGH,
                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc1);
  GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", Direction::OUT, Levels::HIGH,
                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc2);
  GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", Direction::OUT, Levels::HIGH,
                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc3);
  GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", Direction::OUT, Levels::HIGH,
                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc4);
  GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", Direction::OUT, Levels::HIGH,
                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc5);
  GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", Direction::OUT, Levels::HIGH,
                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc6);
  GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", Direction::OUT, Levels::HIGH,
                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc7);
  GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", Direction::OUT, Levels::HIGH,
                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc8);
  GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", Direction::OUT, Levels::HIGH,
                                              &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc9);
  GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", Direction::OUT, Levels::HIGH,
                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc10);
  GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", Direction::OUT, Levels::HIGH,
                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc11);
  GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", Direction::OUT, Levels::HIGH,
                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc12);
  GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", Direction::OUT, Levels::HIGH,
                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  rtdGpioCookie->addGpio(gpioIds::RTD_IC_16, gpioRtdIc13);
  GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", Direction::OUT, Levels::HIGH,
                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  rtdGpioCookie->addGpio(gpioIds::RTD_IC_17, gpioRtdIc14);
  GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", Direction::OUT, Levels::HIGH,
                                               &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
  rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);

  gpioChecker(gpioComIF->addGpios(rtdGpioCookie), "RTDs");

#if OBSW_ADD_RTD_DEVICES == 1
  static constexpr uint8_t NUMBER_RTDS = 16;
  std::array<std::pair<address_t, gpioId_t>, NUMBER_RTDS> cookieArgs = {{
      {addresses::RTD_IC_3, gpioIds::RTD_IC_3},
      {addresses::RTD_IC_4, gpioIds::RTD_IC_4},
      {addresses::RTD_IC_5, gpioIds::RTD_IC_5},
      {addresses::RTD_IC_6, gpioIds::RTD_IC_6},
      {addresses::RTD_IC_7, gpioIds::RTD_IC_7},
      {addresses::RTD_IC_8, gpioIds::RTD_IC_8},
      {addresses::RTD_IC_9, gpioIds::RTD_IC_9},
      {addresses::RTD_IC_10, gpioIds::RTD_IC_10},
      {addresses::RTD_IC_11, gpioIds::RTD_IC_11},
      {addresses::RTD_IC_12, gpioIds::RTD_IC_12},
      {addresses::RTD_IC_13, gpioIds::RTD_IC_13},
      {addresses::RTD_IC_14, gpioIds::RTD_IC_14},
      {addresses::RTD_IC_15, gpioIds::RTD_IC_15},
      {addresses::RTD_IC_16, gpioIds::RTD_IC_16},
      {addresses::RTD_IC_17, gpioIds::RTD_IC_17},
      {addresses::RTD_IC_18, gpioIds::RTD_IC_18},
  }};
  std::array<object_id_t, NUMBER_RTDS> rtdIds = {objects::RTD_0_IC3_PLOC_HEATSPREADER,
                                                 objects::RTD_1_IC4_PLOC_MISSIONBOARD,
                                                 objects::RTD_2_IC5_4K_CAMERA,
                                                 objects::RTD_3_IC6_DAC_HEATSPREADER,
                                                 objects::RTD_4_IC7_STARTRACKER,
                                                 objects::RTD_5_IC8_RW1_MX_MY,
                                                 objects::RTD_6_IC9_DRO,
                                                 objects::RTD_7_IC10_SCEX,
                                                 objects::RTD_8_IC11_X8,
                                                 objects::RTD_9_IC12_HPA,
                                                 objects::RTD_10_IC13_PL_TX,
                                                 objects::RTD_11_IC14_MPA,
                                                 objects::RTD_12_IC15_ACU,
                                                 objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
                                                 objects::RTD_14_IC17_TCS_BOARD,
                                                 objects::RTD_15_IC18_IMTQ};
  std::array<SpiCookie*, NUMBER_RTDS> rtdCookies = {};
  std::array<Max31865PT1000Handler*, NUMBER_RTDS> rtds = {};
  RtdFdir* rtdFdir = nullptr;
  for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
    rtdCookies[idx] =
        new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second, spiDev,
                      Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
    rtds[idx] = new Max31865PT1000Handler(rtdIds[idx], objects::SPI_MAIN_COM_IF, rtdCookies[idx]);
    rtds[idx]->setParent(objects::TCS_BOARD_ASS);
    rtdFdir = new RtdFdir(rtdIds[idx]);
    rtds[idx]->setCustomFdir(rtdFdir);
    rtds[idx]->setDeviceIdx(idx + 3);
#if OBSW_DEBUG_RTD == 1
    rtds[idx]->setDebugMode(true);
#endif
  }

#if OBSW_TEST_RTD == 1
  for (auto& rtd : rtds) {
    if (rtd != nullptr) {
      rtd->setStartUpImmediately();
      rtd->setInstantNormal(true);
    }
  }
#endif  // OBSW_TEST_RTD == 1
  TcsBoardHelper helper(rtdIds);
  TcsBoardAssembly* tcsBoardAss =
      new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
                           pcdu::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
  static_cast<void>(tcsBoardAss);
#endif  // OBSW_ADD_RTD_DEVICES == 1
}

void ObjectFactory::gpioChecker(ReturnValue_t result, std::string output) {
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "ObjectFactory: Adding GPIOs failed for " << output << std::endl;
  }
}