#include "InitMission.h"

#include <OBSWConfig.h>
#include <mission/utility/TaskCreation.h>
#include <objects/systemObjectList.h>
#include <pollingsequence/pollingSequenceFactory.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 <rtems/rtems/support.h>
#include <rtems/score/heapinfo.h>


void InitMission::createTasks() {
    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
#if OBSW_ADD_CORE_COMPONENTS == 1
	/* TMTC Distribution */
	PeriodicTaskIF* distributerTask = TaskFactory::instance()->createPeriodicTask(
	        "DIST", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, nullptr);
	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::CCSDS_DISTRIBUTOR);
	}
    result = distributerTask->addComponent(objects::TM_FUNNEL);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        task::printInitError("TM funnel", objects::TM_FUNNEL);
    }

    PeriodicTaskIF* eventManagerTask = TaskFactory::instance()->createPeriodicTask(
            "EVENT_MGMT", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.1, nullptr);
    result = eventManagerTask->addComponent(objects::EVENT_MANAGER);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        task::printInitError("TM funnel", objects::TM_FUNNEL);
    }

#if OBSW_ADD_LWIP_COMPONENTS == 1
    /* UDP bridge */
    PeriodicTaskIF* udpBridgeTask = TaskFactory::instance()->createPeriodicTask(
    		"UDP_UNIX_BRIDGE", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 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", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.1, nullptr);
    result = udpPollingTask->addComponent(objects::UDP_POLLING_TASK);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        task::printInitError("UDP polling task", objects::UDP_POLLING_TASK);
    }
#endif /* OBSW_ADD_LWIP_COMPONENTS == 1 */
#endif /* OBSW_ADD_CORE_COMPONENTS == 1 */

#if OBSW_ADD_PUS_STACK == 1
    /* PUS Services */
    PeriodicTaskIF* pusVerification = TaskFactory::instance()->createPeriodicTask(
            "PUS_VERIF_1", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, 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", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 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_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 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", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 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", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, nullptr);
	result = pst::pollingSequenceExamples(timeslotDemoTask);
	if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
		sif::error << "InitMission::createTasks: Examples PST initialization failed!" << std::endl;
#else
		sif::printError("InitMission::createTasks: Examples PST initialization failed!\n");
#endif
	}

	PeriodicTaskIF* readerTask = TaskFactory::instance()->
			createPeriodicTask("READER_TASK", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
    result = readerTask->addComponent(objects::TEST_DUMMY_4);
    if(result != HasReturnvaluesIF::RETURN_OK) {
        task::printInitError("Demo Reader Task", objects::TEST_DUMMY_4);
    }
#endif /* OBSW_ADD_TASK_EXAMPLE == 1 */

#if OBSW_ADD_DEVICE_HANDLER_DEMO == 1
	FixedTimeslotTaskIF* testTimeslotTask = TaskFactory::instance()->createFixedTimeslotTask(
	        "PST_TEST_TASK", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, nullptr);
	result = pst::pollingSequenceDevices(testTimeslotTask);
	if(result != HasReturnvaluesIF::RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
        sif::error << "InitMission::createTasks: Devices PST initialization failed!" << std::endl;
#else
        sif::printError("InitMission::createTasks: Devices PST initialization failed!\n");
#endif
	}
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */

	PeriodicTaskIF* testTask = TaskFactory::instance()->
			createPeriodicTask("TEST", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0,  nullptr);
	result = testTask->addComponent(objects::TEST_TASK);
	if(result != HasReturnvaluesIF::RETURN_OK) {
	    task::printInitError("Test Task", objects::TEST_TASK);
	}

#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();
#if OBSW_ADD_LWIP_COMPONENTS == 1
	udpBridgeTask->startTask();
	udpPollingTask->startTask();
#endif /* OBSW_ADD_LWIP_COMPONENTS == 1 */
#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
	testTimeslotTask->startTask();
#endif /* OBSW_ADD_DEVICE_HANDLER_DEMO == 1 */

	testTask->startTask();

    Heap_Information_block block;
    rtems_workspace_get_information(&block);
    uint32_t failedAllocs = block.Stats.failed_allocs;

#if FSFW_CPP_OSTREAM_ENABLED == 1
	sif::info << "Tasks started.." << std::endl;
	sif::info << "Remaining RTEMS heap: " << block.Stats.free_size << " bytes" << std::endl;
#else
	sif::printInfo("Tasks started..\n");
	sif::printInfo("Allocated RTEMS heap: %lu bytes\n", static_cast<unsigned long>(
            block.Stats.size));
	sif::printInfo("Remaining RTEMS heap: %lu bytes\n", static_cast<unsigned long>(
	        block.Stats.free_size));
	if(failedAllocs > 0) {
	    sif::printWarning("%d allocations from RTEMS workspace failed!\n", failedAllocs);
	}
#endif
}