#ifndef MISSION_CONTROLLER_THERMALCONTROLLER_H_
#define MISSION_CONTROLLER_THERMALCONTROLLER_H_

#include <fsfw/action/HasActionsIF.h>
#include <fsfw/action/SimpleActionHelper.h>
#include <fsfw/events/EventReportingProxyIF.h>
#include <fsfw/parameters/ParameterHelper.h>
#include <fsfw/controller/ControllerBase.h>
#include <fsfw/datapool/ControllerSet.h>
#include <fsfw/datapool/DataSet.h>
#include <fsfw/datapool/PoolVariable.h>
#include <fsfw/datapool/PoolVector.h>
#include <fsfw/health/HealthTableIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <mission/Controller/ArduinoTCSTemperatureSensor.h>
#include <mission/Controller/TCS_ThermalComponent.h>
#include <mission/Controller/TCS_Heater.h>
//#include <fsfw/thermal/ThermalModule.h>
#include <bsp_linux/fsfwconfig/objects/systemObjectList.h>
#include <bsp_linux/fsfwconfig/datapool/dataPoolInit.h>


class ThermalController: public ControllerBase {
public:

    //static const Mode_t MODE_ON = 1;
    //static const Mode_t MODE_OFF = 2;
    static const Submode_t NO_REDUNDANCY = 1;
    static const Submode_t HEATER_REDUNDANCY = 2;
    
    static const uint8_t COMPONENT_DOMAIN_ID = 1; //!< First number n of component domain IDs
    
    //static const Event TCS_CONTROL_STRATEGY = MAKE_EVENT(0, SEVERITY::INFO); //!< Announcement mode for the TCS controller strategy, strategy is in p1
    
    //static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ARDUINO_TCS;
    //static const uint8_t INTERFACE_ID = CLASS_ID::THERMAL_CONTROLLER;

    ThermalController(object_id_t objectId, object_id_t powerSwitcher, size_t commandQueueDepth);
    virtual~ ThermalController();
    
    ReturnValue_t initialize() override;
    ReturnValue_t performOperation(uint8_t opCode) override;
    //virtual MessageQueueId_t getCommandQueue() const;
    
private:
    
    //ThermalModule::Strategy strategy;
    //SimpleActionHelper actionHelper;
    //ParameterHelper parameterHelper;
    object_id_t powerSwitcherId;
    
    // definition of dataset
    DataSet SensorData;
    DataSet ComponentData;
    
    // definition of dataset variables from datapool
    PoolVector <float, 36> TempValueVec;
    
    // definition of objects
    ArduinoTCSTemperatureSensor TEMPERATURE_SENSOR_CH1;
    ArduinoTCSTemperatureSensor TEMPERATURE_SENSOR_CH2;
    std::list<ArduinoTCSTemperatureSensor> sensors;
    
    TCS_ThermalComponent TEMPERATURE_COMPONENT_1;
    TCS_ThermalComponent TEMPERATURE_COMPONENT_2;
    std::list<TCS_ThermalComponent> components;
    
    TCS_Heater HEATER_1;
    TCS_Heater REDUNDANT_HEATER_1;
    TCS_Heater HEATER_2;
    TCS_Heater REDUNDANT_HEATER_2;
    std::list<TCS_Heater> heaters;
    std::list<TCS_Heater> redundant_heaters;
    
    /*--------------------------------------------------------------------------------*/
    
    /*const float T_min = -50 + 273.15; // [K]
    const float T_max = 50 + 273.15; // [K]
    static const uint8_t margin = 5; // ESA qualification margin [K]
    static const uint8_t DT_heater = 10; // margin of heater activation  [K]
    static const uint8_t DT_redundancy = 5; // margin of redundancy activation  [K]*/
    // Start of the clock when heater is turned-on (one clock defined for each heater), reset when heater turned-off
    // const float Dt[36] = {0.0}; // time interval for check of heater activation [s]
    
    //ThermalComponentIF* findComponentByObjectId(object_id_t id);
			
protected:

    //Mode_t mode;
   	//Submode_t submode;

    /* Extended Controller Base overrides */
    ReturnValue_t handleCommandMessage(CommandMessage *message) override;
    void performControlOperation() override;
    ReturnValue_t checkModeCommand(Mode_t mode, Submode_t submode, uint32_t *msToReachTheMode) override;
    void startTransition(Mode_t mode, Submode_t submode) override;
    //void calculateStrategy(bool announce, bool redundancy);
    
    //void modeChanged(Mode_t mode, Submode_t submode) override;
    //void getMode(Mode_t *mode, Submode_t *submode) override;
    //void changeHK(Mode_t mode, Submode_t submode, bool enable) override;
    //void setToExternalControl() override;
    //virtual ReturnValue_t executeAction(ActionId_t actionId, MessageQueueId_t commandedBy, const uint8_t* data, uint32_t size) override;
    //virtual void announceMode(bool recursive);
};


#endif /* MISSION_CONTROLLER_THERMALCONTROLLER_H_ */