#include "OBSWConfig.h"
#include "OBSWVersion.h"
#include "boardconfig.h"
#include "hardware_init.h"

#if OBSW_ADD_LWIP_COMPONENTS == 1
#include <lwip/init.h>
#endif

#include "core/InitMission.h"
#include "core/ObjectFactory.h"

#include "example/utility/utility.h"

#include <fsfw/objectmanager/ObjectManager.h>
#include <fsfw/serviceinterface/ServiceInterface.h>
#include <fsfw/tasks/TaskFactory.h>

#include "FreeRTOS.h"
#include "cmsis_os.h"
#include "task.h"

#include <cstdio>
#if FSFW_CPP_OSTREAM_ENABLED == 1
#include <iostream>
#endif

#if !defined(BOARD_NAME)
#define BOARD_NAME "unknown board"
#endif

#if FSFW_CPP_OSTREAM_ENABLED == 1
ServiceInterfaceStream sif::debug("DEBUG", true);
ServiceInterfaceStream sif::info("INFO", true);
ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true);
#endif

void initTask(void *parameters);

/**
 * @brief	Core function for the STM32 FreeRTOS BSP
 * @return
 * @author  R. Mueller, J. Meier
 */
int main() {
  performHardwareInit();

  xTaskCreate(initTask, "INIT_TASK", 2048, nullptr, 9, nullptr);

  /* Start scheduler */
  osKernelStart();

  /* Should not be reached, scheduler should now be running. */
  for (;;) {
  }
  return 0;
}

void initTask(void *parameters) {
#if OBSW_ADD_LWIP_COMPONENTS == 1
  /* Initialize the LwIP stack */
  lwip_init();

  /* Configure the Network interface */
  Netif_Config();
#endif

  utility::commonInitPrint("FreeRTOS", BOARD_NAME);

#if FSFW_CPP_OSTREAM_ENABLED == 1
  sif::info << "Creating objects.." << std::endl;
#else
  sif::printInfo("Creating objects..\n\r");
#endif

  ObjectManager *objManager = ObjectManager::instance();
  objManager->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
  objManager->initialize();

#if FSFW_CPP_OSTREAM_ENABLED == 1
  sif::info << "Creating tasks.." << std::endl;
#else
  sif::printInfo("Creating tasks..\n\r");
#endif
  InitMission::createTasks();
  TaskFactory::instance()->deleteTask(nullptr);
}