#ifndef FSFW_PUS_CSERVICE200MODECOMMANDING_H_
#define FSFW_PUS_CSERVICE200MODECOMMANDING_H_

#include "../tmtcservices/CommandingServiceBase.h"

/**
 * @brief Custom PUS service to set mode of all objects implementing HasModesIF
 *
 * Examples: Device Handlers, Assemblies or Subsystems.
 * Full Documentation: ECSS-E-ST-70-41C or ECSS-E-70-41A
 * Dissertation Baetz p. 115, 116, 165-167.
 *
 * This is a gateway service. It relays device commands using the software bus.
 * @ingroup pus_services
 */
class CService200ModeCommanding: public CommandingServiceBase {
public:
	static constexpr uint8_t NUMBER_OF_PARALLEL_COMMANDS = 4;
	static constexpr uint16_t COMMAND_TIMEOUT_SECONDS = 60;

	CService200ModeCommanding(object_id_t objectId,
	        uint16_t apid, uint8_t serviceId);
	virtual~ CService200ModeCommanding();

protected:
	//! CommandingServiceBase (CSB) abstract functions. See CSB documentation.
	ReturnValue_t isValidSubservice(uint8_t subservice) override;
	ReturnValue_t getMessageQueueAndObject(uint8_t subservice,
			const uint8_t *tcData, size_t tcDataLen, MessageQueueId_t *id,
			object_id_t *objectId) override;
	ReturnValue_t prepareCommand(CommandMessage* message,
			uint8_t subservice, const uint8_t *tcData, size_t tcDataLen,
			uint32_t *state, object_id_t objectId) override;
	ReturnValue_t handleReply(const CommandMessage* reply,
			Command_t previousCommand, uint32_t *state,
			CommandMessage* optionalNextCommand, object_id_t objectId,
			bool *isStep) override;

private:
	ReturnValue_t checkAndAcquireTargetID(object_id_t* objectIdToSet,
			const uint8_t* tcData, uint32_t tcDataLen);
	ReturnValue_t checkInterfaceAndAcquireMessageQueue(
			MessageQueueId_t* MessageQueueToSet, object_id_t* objectId);

	ReturnValue_t prepareModeReply(const CommandMessage *reply,
			object_id_t objectId);
	ReturnValue_t prepareWrongModeReply(const CommandMessage *reply,
			object_id_t objectId);
	ReturnValue_t prepareCantReachModeReply(const CommandMessage *reply,
			object_id_t objectId);

	enum Subservice { //!< [EXPORT] : [COMMENT] Mode Commanding Subservices
		//!< [EXPORT] : [COMMAND] Command assembly, subsystem or device mode
		COMMAND_MODE_COMMAND = 1,
		//!< [EXPORT] : [COMMAND] Command to set the specified Mode,
		//! regardless of external control flag
		COMMAND_MODE_COMMAND_FORCED = 2,
		//!< [EXPORT] : [COMMAND] Read the current mode and
		//! reply with a REPLY_MODE_REPLY
		COMMAND_MODE_READ = 3,
		//!< [EXPORT] : [COMMAND] Trigger an ModeInfo Event.
		//! This command does NOT have a reply
		COMMAND_MODE_ANNCOUNCE = 4,
		//!< [EXPORT] : [COMMAND] Trigger a ModeInfo Event and to send this
		//! command to every child. This command does NOT have a reply.
		COMMAND_MODE_ANNOUNCE_RECURSIVELY = 5,
		//!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND or CMD_MODE_READ
		REPLY_MODE_REPLY = 6,
		//!< [EXPORT] : [REPLY] Reply in case a mode command can't be executed.
		REPLY_CANT_REACH_MODE = 7,
		//!< [EXPORT] : [REPLY] Reply to a CMD_MODE_COMMAND, indicating that a
		//! mode was commanded and a transition started but was aborted,
		//! the parameters contain the mode that was reached
		REPLY_WRONG_MODE_REPLY = 8
	};

	enum modeParameters {
		MODE_OFF = 0,
		MODE_ON = 1,
		MODE_NORMAL = 2,
		MODE_RAW = 3
	};
};

#endif /* FSFW_PUS_CSERVICE200MODECOMMANDING_H_ */