#include "fsfw-hal/devicehandlers/GyroL3GD20Handler.h"

#include "fsfw/datapool/PoolReadGuard.h"

GyroHandlerL3GD20H::GyroHandlerL3GD20H(object_id_t objectId, object_id_t deviceCommunication,
        CookieIF *comCookie):
        DeviceHandlerBase(objectId, deviceCommunication, comCookie),
        dataset(this) {
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
    debugDivider = new PeriodicOperationDivider(5);
#endif
}

GyroHandlerL3GD20H::~GyroHandlerL3GD20H() {}

void GyroHandlerL3GD20H::doStartUp() {
    if(internalState == InternalState::NONE) {
        internalState = InternalState::CONFIGURE;
    }

    if(internalState == InternalState::CONFIGURE) {
        if(commandExecuted) {
            internalState = InternalState::CHECK_REGS;
            commandExecuted = false;
        }
    }

    if(internalState == InternalState::CHECK_REGS) {
        if(commandExecuted) {
            internalState = InternalState::NORMAL;
            if(goNormalModeImmediately) {
                setMode(MODE_NORMAL);
            }
            else {
                setMode(_MODE_TO_ON);
            }
            commandExecuted = false;
        }
    }
}

void GyroHandlerL3GD20H::doShutDown() {
    setMode(_MODE_POWER_DOWN);
}

ReturnValue_t GyroHandlerL3GD20H::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
    switch(internalState) {
    case(InternalState::NONE):
    case(InternalState::NORMAL): {
        return HasReturnvaluesIF::RETURN_OK;
    }
    case(InternalState::CONFIGURE): {
        *id = L3GD20H::CONFIGURE_CTRL_REGS;
        uint8_t command [5];
        command[0] = L3GD20H::CTRL_REG_1_VAL;
        command[1] = L3GD20H::CTRL_REG_2_VAL;
        command[2] = L3GD20H::CTRL_REG_3_VAL;
        command[3] = L3GD20H::CTRL_REG_4_VAL;
        command[4] = L3GD20H::CTRL_REG_5_VAL;
        return buildCommandFromCommand(*id, command, 5);
    }
    case(InternalState::CHECK_REGS): {
        *id = L3GD20H::READ_REGS;
        return buildCommandFromCommand(*id, nullptr, 0);
    }
    default:
#if FSFW_CPP_OSTREAM_ENABLED == 1
        /* Might be a configuration error. */
        sif::debug << "GyroHandler::buildTransitionDeviceCommand: Unknown internal state!" <<
        std::endl;
#else
        sif::printDebug("GyroHandler::buildTransitionDeviceCommand: Unknown internal state!\n");
#endif
        return HasReturnvaluesIF::RETURN_OK;
    }
    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GyroHandlerL3GD20H::buildNormalDeviceCommand(DeviceCommandId_t *id) {
    *id = L3GD20H::READ_REGS;
    return buildCommandFromCommand(*id, nullptr, 0);
}

ReturnValue_t GyroHandlerL3GD20H::buildCommandFromCommand(
        DeviceCommandId_t deviceCommand, const uint8_t *commandData,
        size_t commandDataLen) {
    switch(deviceCommand) {
    case(L3GD20H::READ_REGS): {
        commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK | L3GD20H::READ_MASK;
        std::memset(commandBuffer + 1, 0, L3GD20H::READ_LEN);
        rawPacket = commandBuffer;
        rawPacketLen = L3GD20H::READ_LEN + 1;
        break;
    }
    case(L3GD20H::CONFIGURE_CTRL_REGS): {
        commandBuffer[0] = L3GD20H::CTRL_REG_1 | L3GD20H::AUTO_INCREMENT_MASK;
        if(commandData == nullptr or commandDataLen != 5) {
            return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
        }

        ctrlReg1Value = commandData[0];
        ctrlReg2Value = commandData[1];
        ctrlReg3Value = commandData[2];
        ctrlReg4Value = commandData[3];
        ctrlReg5Value = commandData[4];

        bool fsH = ctrlReg4Value & L3GD20H::SET_FS_1;
        bool fsL = ctrlReg4Value & L3GD20H::SET_FS_0;

        if(not fsH and not fsL) {
            sensitivity = L3GD20H::SENSITIVITY_00;
        }
        else if(not fsH and fsL) {
            sensitivity = L3GD20H::SENSITIVITY_01;
        }
        else {
            sensitivity = L3GD20H::SENSITIVITY_11;
        }

        commandBuffer[1] = ctrlReg1Value;
        commandBuffer[2] = ctrlReg2Value;
        commandBuffer[3] = ctrlReg3Value;
        commandBuffer[4] = ctrlReg4Value;
        commandBuffer[5] = ctrlReg5Value;

        rawPacket = commandBuffer;
        rawPacketLen = 6;
        break;
    }
    case(L3GD20H::READ_CTRL_REGS): {
        commandBuffer[0] = L3GD20H::READ_START | L3GD20H::AUTO_INCREMENT_MASK |
                L3GD20H::READ_MASK;

        std::memset(commandBuffer + 1, 0, 5);
        rawPacket = commandBuffer;
        rawPacketLen = 6;
        break;
    }
    default:
        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
    }
    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GyroHandlerL3GD20H::scanForReply(const uint8_t *start, size_t len,
        DeviceCommandId_t *foundId, size_t *foundLen) {
    /* For SPI, the ID will always be the one of the last sent command. */
    *foundId = this->getPendingCommand();
    *foundLen = this->rawPacketLen;

    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GyroHandlerL3GD20H::interpretDeviceReply(DeviceCommandId_t id,
        const uint8_t *packet) {
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
    switch(id) {
    case(L3GD20H::CONFIGURE_CTRL_REGS): {
        commandExecuted = true;
        break;
    }
    case(L3GD20H::READ_CTRL_REGS): {
        if(packet[1] == ctrlReg1Value and packet[2] == ctrlReg2Value and
                packet[3] == ctrlReg3Value and packet[4] == ctrlReg4Value and
                packet[5] == ctrlReg5Value) {
            commandExecuted = true;
        }
        else {
            /* Attempt reconfiguration. */
            internalState = InternalState::CONFIGURE;
            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
        }
        break;
    }
    case(L3GD20H::READ_REGS): {
        if(packet[1] != ctrlReg1Value and packet[2] != ctrlReg2Value and
                packet[3] != ctrlReg3Value and packet[4] != ctrlReg4Value and
                packet[5] != ctrlReg5Value) {
            return DeviceHandlerIF::DEVICE_REPLY_INVALID;
        }
        else {
            if(internalState == InternalState::CHECK_REGS) {
                commandExecuted = true;
            }
        }

        statusReg = packet[L3GD20H::STATUS_IDX];

        int16_t angVelocXRaw = packet[L3GD20H::OUT_X_H] << 8 | packet[L3GD20H::OUT_X_L];
        int16_t angVelocYRaw = packet[L3GD20H::OUT_Y_H] << 8 | packet[L3GD20H::OUT_Y_L];
        int16_t angVelocZRaw = packet[L3GD20H::OUT_Z_H] << 8 | packet[L3GD20H::OUT_Z_L];
        float angVelocX = angVelocXRaw * sensitivity;
        float angVelocY = angVelocYRaw * sensitivity;
        float angVelocZ = angVelocZRaw * sensitivity;

        int8_t temperaturOffset = (-1) * packet[L3GD20H::TEMPERATURE_IDX];
        float temperature = 25.0 + temperaturOffset;
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
        if(debugDivider->checkAndIncrement()) {
            /* Set terminal to utf-8 if there is an issue with micro printout. */
#if FSFW_CPP_OSTREAM_ENABLED == 1
            sif::info << "GyroHandlerL3GD20H: Angular velocities in degrees per second:" <<
                    std::endl;
            sif::info << "X: " << angVelocX << " \xC2\xB0" << std::endl;
            sif::info << "Y: " << angVelocY << " \xC2\xB0" << std::endl;
            sif::info << "Z: " << angVelocZ << " \xC2\xB0" << std::endl;
#else
            sif::printInfo("GyroHandlerL3GD20H: Angular velocities in degrees per second:\n");
            sif::printInfo("X: %f\n", angVelocX);
            sif::printInfo("Y: %f\n", angVelocY);
            sif::printInfo("Z: %f\n", angVelocZ);
#endif
        }
#endif

        PoolReadGuard readSet(&dataset);
        if(readSet.getReadResult() == HasReturnvaluesIF::RETURN_OK) {
            dataset.angVelocX = angVelocX;
            dataset.angVelocY = angVelocY;
            dataset.angVelocZ = angVelocZ;
            dataset.temperature = temperature;
            dataset.setValidity(true, true);
        }
        break;
    }
    default:
        return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
    }
    return result;
}


uint32_t GyroHandlerL3GD20H::getTransitionDelayMs(Mode_t from, Mode_t to) {
    return 10000;
}

void GyroHandlerL3GD20H::setGoNormalModeAtStartup() {
    this->goNormalModeImmediately = true;
}

ReturnValue_t GyroHandlerL3GD20H::initializeLocalDataPool(
        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {
    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_X,
            new PoolEntry<float>({0.0}));
    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Y,
            new PoolEntry<float>({0.0}));
    localDataPoolMap.emplace(L3GD20H::ANG_VELOC_Z,
            new PoolEntry<float>({0.0}));
    localDataPoolMap.emplace(L3GD20H::TEMPERATURE,
            new PoolEntry<float>({0.0}));
    return HasReturnvaluesIF::RETURN_OK;
}

void GyroHandlerL3GD20H::fillCommandAndReplyMap() {
    insertInCommandAndReplyMap(L3GD20H::READ_REGS, 1, &dataset);
    insertInCommandAndReplyMap(L3GD20H::CONFIGURE_CTRL_REGS, 1);
    insertInCommandAndReplyMap(L3GD20H::READ_CTRL_REGS, 1);
}

void GyroHandlerL3GD20H::modeChanged() {
    internalState = InternalState::NONE;
}