#include "ObjectFactory.h"
#include "OBSWConfig.h"
#include "hardware_init.h"
#include "objects/systemObjectList.h"

#include "example/core/GenericFactory.h"

#include "example_common/stm32h7/STM32TestTask.h"
#include "example_common/stm32h7/networking/TmTcLwIpUdpBridge.h"
#include "example_common/stm32h7/networking/UdpTcLwIpPollingTask.h"
#include "fsfw/storagemanager/PoolManager.h"
#include "fsfw/tmtcservices/PusServiceBase.h"

#if OBSW_PERFORM_L3GD20H_TEST == 1
#include "fsfw/hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw/hal/stm32h7/spi/SpiComIF.h"
#include "fsfw/hal/stm32h7/spi/SpiCookie.h"
#include "fsfw/hal/stm32h7/spi/spiCore.h"
#include "fsfw/hal/stm32h7/spi/stm32h743ziSpi.h"
DMA_HandleTypeDef *txHandle = nullptr;
DMA_HandleTypeDef *rxHandle = nullptr;
#endif

void ObjectFactory::produce(void *args) {
  /* Located inside GenericFactory source file */
  Factory::setStaticFrameworkObjectIds();

#if OBSW_ADD_CORE_COMPONENTS == 1
  {
    LocalPool::LocalPoolConfig poolCfg = {
        {100, 32}, {30, 64}, {10, 128}, {2, 1024}};
    new PoolManager(objects::TC_STORE, poolCfg);
  }

  {
    LocalPool::LocalPoolConfig poolCfg = {
        {100, 32}, {30, 64}, {10, 128}, {2, 1024}};
    new PoolManager(objects::TM_STORE, poolCfg);
  }

  {
    LocalPool::LocalPoolConfig poolCfg = {
        {100, 32}, {30, 64}, {10, 128}, {2, 1024}};
    new PoolManager(objects::IPC_STORE, poolCfg);
  }

#if OBSW_ADD_LWIP_COMPONENTS == 1
  /* UDP Server */
  new TmTcLwIpUdpBridge(objects::UDP_BRIDGE, objects::CCSDS_DISTRIBUTOR,
                        objects::TM_STORE, objects::TC_STORE);
  new UdpTcLwIpPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE,
                           &gnetif);
#endif
#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */

  ObjectFactory::produceGenericObjects();

  /* Test Device Handler */
  new STM32TestTask(objects::TEST_TASK, true, true);

#if OBSW_PERFORM_L3GD20H_TEST == 1
  spi::MspCfgBase *mspCfg = nullptr;
  spi::TransferModes transferMode = spi::TransferModes::DMA;
  if (transferMode == spi::TransferModes::POLLING) {
    auto typedCfg = new spi::MspPollingConfigStruct();
    spi::h743zi::standardPollingCfg(*typedCfg);
    mspCfg = typedCfg;
  } else if (transferMode == spi::TransferModes::INTERRUPT) {
    auto typedCfg = new spi::MspIrqConfigStruct();
    spi::h743zi::standardInterruptCfg(*typedCfg,
                                      IrqPriorities::HIGHEST_FREERTOS);
    mspCfg = typedCfg;
  } else if (transferMode == spi::TransferModes::DMA) {
    auto typedCfg = new spi::MspDmaConfigStruct();
    txHandle = new DMA_HandleTypeDef();
    rxHandle = new DMA_HandleTypeDef();
    spi::setDmaHandles(txHandle, rxHandle);
    spi::h743zi::standardDmaCfg(*typedCfg, IrqPriorities::HIGHEST_FREERTOS,
                                IrqPriorities::HIGHEST_FREERTOS,
                                IrqPriorities::HIGHEST_FREERTOS);
    mspCfg = typedCfg;
  }

  new SpiComIF(objects::SPI_COM_IF);
  auto spiCookie = new SpiCookie(devaddress::L3GD20H, spi::SpiBus::SPI_1,
                                 transferMode, mspCfg, 3900000,
                                 spi::SpiModes::MODE_3, GPIO_PIN_14, GPIOD, 32);
  auto gyroDevice = new GyroHandlerL3GD20H(objects::SPI_DEVICE_TEST,
                                           objects::SPI_COM_IF, spiCookie);
  gyroDevice->setStartUpImmediately();
  gyroDevice->setGoNormalModeAtStartup();
#endif
}