#include "ObjectFactory.h"
#include <OBSWConfig.h>
#include <tmtc/apid.h>
#include <devices/addresses.h>
#include <devices/gpioIds.h>
#include <tmtc/pusIds.h>
#include <devices/powerSwitcherList.h>

#include <bsp_q7s/devices/HeaterHandler.h>
#include <bsp_q7s/devices/SolarArrayDeploymentHandler.h>

#include <mission/core/GenericFactory.h>
#include <mission/devices/PDU1Handler.h>
#include <mission/devices/PDU2Handler.h>
#include <mission/devices/ACUHandler.h>
#include <mission/devices/PCDUHandler.h>
#include <mission/devices/P60DockHandler.h>
#include <mission/devices/Tmp1075Handler.h>
#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/utility/TmFunnel.h>

#include <linux/csp/CspCookie.h>
#include <linux/csp/CspComIF.h>
#include <fsfw_hal/linux/i2c/I2cCookie.h>
#include <fsfw_hal/linux/i2c/I2cComIF.h>
#include <fsfw_hal/linux/gpio/LinuxLibgpioIF.h>
#include <fsfw_hal/common/gpio/GpioCookie.h>

#include <fsfw/datapoollocal/LocalDataPoolManager.h>
#include <fsfw/tmtcservices/CommandingServiceBase.h>
#include <fsfw/tmtcservices/PusServiceBase.h>
#include <fsfw/tmtcpacket/pus/TmPacketStored.h>

/* UDP server includes */
#include <fsfw/osal/common/UdpTmTcBridge.h>
#include <fsfw/osal/common/UdpTcPollingTask.h>

#if TEST_LIBGPIOD == 1
#include <linux/boardtest/LibgpiodTest.h>
#endif

void Factory::setStaticFrameworkObjectIds() {
    PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
    PusServiceBase::packetDestination = objects::TM_FUNNEL;

    CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
    CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;

    TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
    // No storage object for now.
    TmFunnel::storageDestination = objects::NO_OBJECT;

    LocalDataPoolManager::defaultHkDestination = objects::NO_OBJECT;

    VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
    TmPacketStored::timeStamperId = objects::TIME_STAMPER;
}



void ObjectFactory::produce(){
    Factory::setStaticFrameworkObjectIds();
    ObjectFactory::produceGenericObjects();

#if TE0720 == 1
    I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
            TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
    I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
            TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
#else
    I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
            TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
    I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
            TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
#endif
    /* Communication interfaces */
    new CspComIF(objects::CSP_COM_IF);
    new I2cComIF(objects::I2C_COM_IF);

#if TE0720 == 0
    CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH,
            addresses::P60DOCK);
    CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
            addresses::PDU1);
    CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH,
            addresses::PDU2);
    CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH,
            addresses::ACU);
    /* Device Handler */
    P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER,
            objects::CSP_COM_IF, p60DockCspCookie);
    PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER,
            objects::CSP_COM_IF, pdu1CspCookie);
    PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER,
            objects::CSP_COM_IF, pdu2CspCookie);
    ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER,
            objects::CSP_COM_IF, acuCspCookie);
    new PCDUHandler(objects::PCDU_HANDLER, 50);

    /**
     * Setting PCDU devices to mode normal immediately after start up because PCDU is always
     * running.
     */
    //p60dockhandler->setModeNormal();
    //pdu1handler->setModeNormal();
    //pdu2handler->setModeNormal();
    //acuhandler->setModeNormal();
    (void) p60dockhandler;
    (void) pdu1handler;
    (void) pdu2handler;
    (void) acuhandler;

    GpioCookie* gpioCookieAcsBoard = new GpioCookie();
    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_0_LIS3_CS, gpio::MGM_0_BCM_PIN,
            "MGM_0_LIS3", gpio::Direction::OUT, 1);
    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_1_RM3100_CS, gpio::MGM_1_BCM_PIN,
            "MGM_1_RM3100", gpio::Direction::OUT, 1);
    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_2_LIS3_CS, gpio::MGM_2_BCM_PIN,
            "MGM_2_LIS3", gpio::Direction::OUT, 1);
    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::MGM_3_RM3100_CS, gpio::MGM_3_BCM_PIN,
            "MGM_3_RM3100", gpio::Direction::OUT, 1);
    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_0_ADIS_CS, gpio::GYRO_0_BCM_PIN,
            "GYRO_0_ADIS", gpio::Direction::OUT, 1);
    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_1_L3G_CS, gpio::GYRO_1_BCM_PIN,
            "GYRO_1_L3G", gpio::Direction::OUT, 1);
    gpio::createRpiGpioConfig(gpioCookieAcsBoard, gpioIds::GYRO_2_L3G_CS, gpio::GYRO_2_BCM_PIN,
            "GYRO_2_L3G", gpio::Direction::OUT, 1);
    gpioIF->addGpios(gpioCookieAcsBoard);

    std::string spiDev = "/dev/spidev2.0";
    SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
            MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
    auto mgmLis3Handler = new MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
            objects::SPI_COM_IF, spiCookie);
    mgmLis3Handler->setStartUpImmediately();

    spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
            RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
    auto mgmRm3100Handler = new MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
            objects::SPI_COM_IF, spiCookie);
    mgmRm3100Handler->setStartUpImmediately();

    spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
    auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
            spiCookie);
    gyroL3gHandler->setStartUpImmediately();
#endif
    /* Temperature sensors */
    Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(
            objects::TMP1075_HANDLER_1, objects::I2C_COM_IF,
            i2cCookieTmp1075tcs1);
    tmp1075Handler_1->setStartUpImmediately();
    Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(
            objects::TMP1075_HANDLER_2, objects::I2C_COM_IF,
            i2cCookieTmp1075tcs2);
    tmp1075Handler_2->setStartUpImmediately();

    GpioCookie* heaterGpiosCookie = new GpioCookie;
    new LinuxLibgpioIF(objects::GPIO_IF);
#if TE0720 == 0
    /* Pin H2-11 on stack connector */
    GpiodRegular gpioConfigHeater0(std::string("gpiochip7"), 18,
            std::string("Heater0"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);

    /* Pin H2-12 on stack connector */
    GpiodRegular gpioConfigHeater1(std::string("gpiochip7"), 14,
            std::string("Heater1"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);

    /* Pin H2-13 on stack connector */
    GpiodRegular gpioConfigHeater2(std::string("gpiochip7"), 20,
            std::string("Heater2"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);

    GpiodRegular gpioConfigHeater3(std::string("gpiochip7"), 16,
            std::string("Heater3"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);

    GpiodRegular gpioConfigHeater4(std::string("gpiochip7"), 24,
            std::string("Heater4"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);

    GpiodRegular gpioConfigHeater5(std::string("gpiochip7"), 26,
            std::string("Heater5"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);

    GpiodRegular gpioConfigHeater6(std::string("gpiochip7"), 22,
            std::string("Heater6"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);

    GpiodRegular gpioConfigHeater7(std::string("gpiochip7"), 28,
            std::string("Heater7"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);

    new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie, objects::PCDU_HANDLER,
            pcduSwitches::TCS_BOARD_8V_HEATER_IN);

    GpioCookie* solarArrayDeplCookie = new GpioCookie;
    GpiodRegular gpioConfigDeplSA1(std::string("gpiochip7"), 25,
            std::string("DeplSA1"), gpio::OUT, 0);
    solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA1);
    GpiodRegular gpioConfigDeplSA2(std::string("gpiochip7"), 23,
            std::string("DeplSA2"), gpio::OUT, 0);
    solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA2);

    //TODO: Find out burn time. For now set to 1000 ms.
    new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
            solarArrayDeplCookie, objects::PCDU_HANDLER, pcduSwitches::DEPLOYMENT_MECHANISM,
            gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
#endif

    new UdpTmTcBridge(objects::UDP_BRIDGE,
            objects::CCSDS_PACKET_DISTRIBUTOR,
            objects::TM_STORE, objects::TC_STORE);
    new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);

#if TE0720 == 1 && TEST_LIBGPIOD == 1
    /* Configure MIO0 as input */
    GpioConfig_t gpioConfigMio0(std::string("gpiochip0"), 0,
            std::string("MIO0"), gpio::IN, 0);
    GpioCookie* gpioCookie = new GpioCookie;
    gpioCookie->addGpio(gpioIds::TEST_ID_0, gpioConfigMio0);
    new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
#elif TE0720 == 1
    /* Configuration for MIO0 on TE0720-03-1CFA */
    GpioConfig_t gpioConfigForDummyHeater(std::string("gpiochip0"), 0,
            std::string("Heater0"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigForDummyHeater);
    new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
            objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
#endif
}