#ifndef FSFW_POWER_POWERSENSOR_H_
#define FSFW_POWER_POWERSENSOR_H_

#include "../datapoolglob/GlobalDataSet.h"
#include "../datapoolglob/GlobalPoolVariable.h"
#include "../datapoolglob/PIDReader.h"
#include "../datapoollocal/StaticLocalDataSet.h"
#include "../devicehandlers/HealthDevice.h"
#include "../monitoring/LimitMonitor.h"
#include "../parameters/ParameterHelper.h"
#include "../objectmanager/SystemObject.h"
#include "../ipc/MessageQueueIF.h"

class PowerController;

/**
 * @brief	Does magic.
 */
class PowerSensor: public SystemObject,
		public ReceivesParameterMessagesIF,
		public HasHealthIF {
	friend class PowerController;
public:
	struct VariableIds {
		gp_id_t pidCurrent;
		gp_id_t pidVoltage;
		gp_id_t poolIdPower;
	};
	struct DefaultLimits {
		float currentMin;
		float currentMax;
		float voltageMin;
		float voltageMax;
	};
	struct SensorEvents {
		Event currentLow;
		Event currentHigh;
		Event voltageLow;
		Event voltageHigh;
	};
	PowerSensor(object_id_t objectId, sid_t sid, VariableIds setIds,
			DefaultLimits limits, SensorEvents events,
			uint16_t confirmationCount = 0);
	virtual ~PowerSensor();
	ReturnValue_t calculatePower();
	ReturnValue_t performOperation(uint8_t opCode);
	void setAllMonitorsToUnchecked();
	MessageQueueId_t getCommandQueue() const;
	ReturnValue_t initialize();
	void setDataPoolEntriesInvalid();
	float getPower();
	ReturnValue_t setHealth(HealthState health);
	HasHealthIF::HealthState getHealth();
	ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
			ParameterWrapper *parameterWrapper,
			const ParameterWrapper *newValues, uint16_t startAtIndex);
private:
	MessageQueueIF* commandQueue = nullptr;
	ParameterHelper parameterHelper;
	HealthHelper healthHelper;
	//GlobDataSet set;
	StaticLocalDataSet<3> powerSensorSet;
	//Variables in
	lp_var_t<float> current;
	lp_var_t<float> voltage;
	//PIDReader<float> current;
	//PIDReader<float> voltage;
	//Variables out
	lp_var_t<float> power;
	//gp_float_t power;

	static const uint8_t MODULE_ID_CURRENT = 1;
	static const uint8_t MODULE_ID_VOLTAGE = 2;
	void checkCommandQueue();
protected:
	LimitMonitor<float> currentLimit;
	LimitMonitor<float> voltageLimit;
};

#endif /* FSFW_POWER_POWERSENSOR_H_ */