#include "InitMission.h"
#include "OBSWConfig.h"
#include "objects/systemObjectList.h"
#include "pollingsequence/pollingSequenceFactory.h"

#include "mission/utility/TaskCreation.h"
#include "mission/assemblies/TestAssembly.h"

#include "fsfw/returnvalues/HasReturnvaluesIF.h"
#include "fsfw/serviceinterface/ServiceInterface.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
#include "fsfw/modes/HasModesIF.h"
#include "fsfw/modes/ModeMessage.h"

#include "FreeRTOS.h"

void InitMission::createTasks() {
    TaskFactory* taskFactory = TaskFactory::instance();

#if OBSW_ADD_CORE_COMPONENTS == 1
    /* TMTC Distribution */
    PeriodicTaskIF* distributerTask = taskFactory->createPeriodicTask(
            "DIST", 5, 1024 * 2, 0.2, nullptr);
    ReturnValue_t result = distributerTask->addComponent(objects::CCSDS_DISTRIBUTOR);
    if(result!=HasReturnvaluesIF::RETURN_OK) {
        task::printInitError("CCSDS distributor", objects::CCSDS_DISTRIBUTOR);
    }
    result = distributerTask->addComponent(objects::PUS_DISTRIBUTOR);
    if(result!=HasReturnvaluesIF::RETURN_OK){
        task::printInitError("PUS distributor", objects::PUS_DISTRIBUTOR);
    }
    result = distributerTask->addComponent(objects::TM_FUNNEL);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        task::printInitError("TM funnel", objects::TM_FUNNEL);
    }

    /* UDP bridge */
    PeriodicTaskIF* udpBridgeTask = TaskFactory::instance()->createPeriodicTask(
            "UDP_UNIX_BRIDGE", 6, 1024 * 2, 0.2, nullptr);
    result = udpBridgeTask->addComponent(objects::UDP_BRIDGE);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        task::printInitError("UDP bridge", objects::UDP_BRIDGE);
    }
    PeriodicTaskIF* udpPollingTask = TaskFactory::instance()->
            createPeriodicTask("UDP_POLLING", 8, 1024, 0.1, nullptr);
    result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        task::printInitError("UDP polling task", objects::UDP_POLLING_TASK);
    }

    PeriodicTaskIF* eventManagerTask = TaskFactory::instance()->createPeriodicTask(
            "EVENT_MGMT", 4, 1024 * 2, 0.1, nullptr);
    result = eventManagerTask->addComponent(objects::EVENT_MANAGER);
    if(result!=HasReturnvaluesIF::RETURN_OK) {
        task::printInitError("Event Manager", objects::EVENT_MANAGER);
    }
#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */

#if OBSW_ADD_PUS_STACK == 1
    /* PUS Services */
    PeriodicTaskIF* pusVerification = TaskFactory::instance()->createPeriodicTask(
            "PUS_VERIF_1", 4, 1024 * 2, 0.2, nullptr);
    result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
    if(result != HasReturnvaluesIF::RETURN_OK){
        task::printInitError("PUS 1", objects::PUS_SERVICE_1_VERIFICATION);
    }

    PeriodicTaskIF* pusHighPrio = TaskFactory::instance()->createPeriodicTask(
            "PUS_HIGH_PRIO", 5, 1024 * 2, 0.2, nullptr);
    result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
    if(result!=HasReturnvaluesIF::RETURN_OK){
        task::printInitError("PUS 2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
    }
    result = pusHighPrio->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
    if(result != HasReturnvaluesIF::RETURN_OK){
        task::printInitError("PUS 5", objects::PUS_SERVICE_5_EVENT_REPORTING);
    }
    result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
    if(result!=HasReturnvaluesIF::RETURN_OK){
        task::printInitError("PUS 9", objects::PUS_SERVICE_9_TIME_MGMT);
    }

    PeriodicTaskIF* pusMedPrio = TaskFactory::instance()->createPeriodicTask(
            "PUS_HIGH_PRIO", 4, 1024 * 2, 0.8, nullptr);
    result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
    if(result!=HasReturnvaluesIF::RETURN_OK){
        task::printInitError("PUS 8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
    }
    result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
    if(result!=HasReturnvaluesIF::RETURN_OK){
        task::printInitError("PUS 200", objects::PUS_SERVICE_200_MODE_MGMT);
    }

    PeriodicTaskIF* pusLowPrio = TaskFactory::instance()->createPeriodicTask(
            "PUS_LOW_PRIO", 3, 1024 * 2, 1.6, nullptr);
    result = pusLowPrio->addComponent(objects::PUS_SERVICE_17_TEST);
    if(result!=HasReturnvaluesIF::RETURN_OK){
        task::printInitError("PUS 17", objects::PUS_SERVICE_17_TEST);
    }
#endif /* OBSW_ADD_PUS_STACK == 1 */

#if OBSW_ADD_TASK_EXAMPLE == 1
    FixedTimeslotTaskIF* timeslotDemoTask = TaskFactory::instance()->createFixedTimeslotTask(
            "PST_TASK", 6, 1024 * 2, 0.5, nullptr);
    result = pst::pollingSequenceExamples(timeslotDemoTask);
    if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "InitMission::createTasks: PST initialization failed!" << std::endl;
#else
        sif::printError( "InitMission::createTasks: PST initialization failed!\n");
#endif
    }

    PeriodicTaskIF* readerTask = TaskFactory::instance()->createPeriodicTask(
            "READER_TASK", 3, 1024, 1.0, nullptr);
    result = readerTask->addComponent(objects::TEST_DUMMY_4);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        task::printInitError("TEST_DUMMY_4", objects::TEST_DUMMY_4);
    }
#endif /* OBSW_ADD_TASK_EXAMPLE == 1 */

#if OBSW_ADD_DEVICE_HANDLER_DEMO == 1
    FixedTimeslotTaskIF* testDevicesTask = TaskFactory::instance()->createFixedTimeslotTask(
            "PST_TEST_TASK", 7, 1024 * 2, 1.0, nullptr);
    result = pst::pollingSequenceDevices(testDevicesTask);
    if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "InitMission::createTasks: Test PST initialization failed!" << std::endl;
#else
        sif::printError("InitMission::createTasks: Test PST initialization faiedl!\n");
#endif
    }
    PeriodicTaskIF* assemblyTask = taskFactory->createPeriodicTask("ASS_TASK", 3,
            1024, 2.0, nullptr);
    if(assemblyTask == nullptr){
        task::printInitError("ASS_TASK", objects::TEST_ASSEMBLY);
    }
    result = assemblyTask->addComponent(objects::TEST_ASSEMBLY);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        task::printInitError("ASS_TASK", objects::TEST_ASSEMBLY);
    }
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */

    PeriodicTaskIF* testTask = TaskFactory::instance()->createPeriodicTask(
            "TEST", 2, 2048, 1.0,  nullptr);
    result = testTask->addComponent(objects::TEST_TASK);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        task::printInitError("Test Task", objects::TEST_TASK);
    }

#if OBSW_PERIPHERAL_PST == 1
    FixedTimeslotTaskIF* peripheralPst = TaskFactory::instance()->createFixedTimeslotTask(
            "PST_PERIPHERAL_TASK", 9, 1024 * 2, 2.0, nullptr);
    result = pst::pstPeripheralsTest(peripheralPst);
    if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "InitMission::createTasks: Test PST initialization failed!" << std::endl;
#else
        sif::printError("InitMission::createTasks: Test PST initialization faiedl!\n");
#endif
    }
#endif

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

#if OBSW_ADD_CORE_COMPONENTS == 1
    distributerTask->startTask();
    eventManagerTask->startTask();
    udpBridgeTask->startTask();
    udpPollingTask->startTask();
#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */

#if OBSW_ADD_PUS_STACK == 1
    pusVerification->startTask();
    pusHighPrio->startTask();
    pusMedPrio->startTask();
    pusLowPrio->startTask();
#endif /* OBSW_ADD_PUS_STACK == 1 */

#if OBSW_ADD_TASK_EXAMPLE == 1
    timeslotDemoTask->startTask();
    readerTask->startTask();
#endif /* OBSW_ADD_TASK_EXAMPLE == 1 */

#if OBSW_ADD_DEVICE_HANDLER_DEMO == 1
    testDevicesTask->startTask();
    assemblyTask->startTask();
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */

#if OBSW_PERIPHERAL_PST == 1
    peripheralPst->startTask();
#endif /* OBSW_PERIPHERAL_PST == 1 */

    testTask->startTask();

#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::info << "Remaining FreeRTOS heap size: " << std::dec << xPortGetFreeHeapSize() <<
            " bytes." << std::endl;
    sif::info << "Tasks started.." << std::endl;
#else
    sif::printInfo("Remaining FreeRTOS heap size: %lu\n",
            static_cast<unsigned long>(xPortGetFreeHeapSize()));
    sif::printInfo("Tasks started..\n");
#endif

#if OBSW_ADD_DEVICE_HANDLER_DEMO
    HasModesIF* assembly = ObjectManager::instance()->get<HasModesIF>(objects::TEST_ASSEMBLY);
    if (assembly == nullptr){
        return;
    }
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::info << "Waiting 5 Seconds and then command Test Assembly to Normal, Dual" << std::endl;
#else
    sif::printInfo("Waiting 5 Seconds and then command Test Assembly to Normal, Dual \n");
#endif

    TaskFactory::delayTask(5000);
    CommandMessage modeMessage;
    ModeMessage::setModeMessage(&modeMessage, ModeMessage::CMD_MODE_COMMAND,
            DeviceHandlerIF::MODE_NORMAL, TestAssembly::submodes::DUAL);
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::info << "Commanding Test Assembly to Normal, Dual" << std::endl;
#else
    sif::printInfo("Commanding Test Assembly to Normal, Dual \n");
#endif
    MessageQueueSenderIF::sendMessage(assembly->getCommandQueue(), &modeMessage,
            MessageQueueIF::NO_QUEUE);
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO */
}