#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/returnvalues/HasReturnvaluesIF.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>

#include "example/test/FsfwExampleTask.h"
#include "objects/systemObjectList.h"
#include "pollingsequence/pollingSequenceFactory.h"

ReturnValue_t pst::pollingSequenceExamples(FixedTimeslotTaskIF* thisSequence) {
  uint32_t length = thisSequence->getPeriodMs();

  thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0, FsfwExampleTask::OpCodes::SEND_RAND_NUM);
  thisSequence->addSlot(objects::TEST_DUMMY_2, length * 0, FsfwExampleTask::OpCodes::SEND_RAND_NUM);
  thisSequence->addSlot(objects::TEST_DUMMY_3, length * 0, FsfwExampleTask::OpCodes::SEND_RAND_NUM);

  thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0.2,
                        FsfwExampleTask::OpCodes::RECEIVE_RAND_NUM);
  thisSequence->addSlot(objects::TEST_DUMMY_2, length * 0.2,
                        FsfwExampleTask::OpCodes::RECEIVE_RAND_NUM);
  thisSequence->addSlot(objects::TEST_DUMMY_3, length * 0.2,
                        FsfwExampleTask::OpCodes::RECEIVE_RAND_NUM);

  thisSequence->addSlot(objects::TEST_DUMMY_1, length * 0.5, FsfwExampleTask::OpCodes::DELAY_SHORT);
  thisSequence->addSlot(objects::TEST_DUMMY_2, length * 0.5, FsfwExampleTask::OpCodes::DELAY_SHORT);
  thisSequence->addSlot(objects::TEST_DUMMY_3, length * 0.5, FsfwExampleTask::OpCodes::DELAY_SHORT);

  if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
    return HasReturnvaluesIF::RETURN_OK;
  } else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "pst::pollingSequenceInitFunction: Initialization errors!" << std::endl;
#else
    sif::printError("pst::pollingSequenceInitFunction: Initialization errors!\n");
#endif
    return HasReturnvaluesIF::RETURN_FAILED;
  }
}

ReturnValue_t pst::pollingSequenceDevices(FixedTimeslotTaskIF* thisSequence) {
  uint32_t length = thisSequence->getPeriodMs();

  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0, DeviceHandlerIF::PERFORM_OPERATION);

  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.3 * length, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.3 * length, DeviceHandlerIF::SEND_WRITE);

  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.45 * length, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.45 * length, DeviceHandlerIF::GET_WRITE);

  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.6 * length, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.6 * length, DeviceHandlerIF::SEND_READ);

  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_0, 0.8 * length, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::TEST_DEVICE_HANDLER_1, 0.8 * length, DeviceHandlerIF::GET_READ);

  if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
    return HasReturnvaluesIF::RETURN_OK;
  } else {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "pst::pollingSequenceTestFunction: Initialization errors!" << std::endl;
#else
    sif::printError("pst::pollingSequenceTestFunction: Initialization errors!\n");
#endif
    return HasReturnvaluesIF::RETURN_FAILED;
  }
}