#![allow(dead_code)]
#![allow(unused_variables)]
// remove this, just here for now since application isn't fully developed

mod action;
mod aocs;
mod cam;
#[cfg(feature = "can")]
mod can;
mod can_ids;
mod ccsds;
mod helpers;
mod hk;
mod logger;
mod messages;
mod pld_handler;
mod power_handler;
mod pus;
mod requests;
mod tmtc;

use crate::requests::RequestWithToken;
use crate::tmtc::{core_tmtc_task, OtherArgs, PusTcSource, TcArgs, TcStore, TmArgs, TmFunnel, TmStore, AOCS_APID, AOCS_HK_APID, CSS_APID, MGM_APID, MGT_APID, PLD_APID, PUS_APID, PWR_APID, RWL_APID, STR_APID, GPS_APID};
use eurosim_obsw::{RequestTargetId, OBSW_SERVER_ADDR, SERVER_PORT};
use satrs_core::event_man::{
    EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider, SendEventProvider,
};
use satrs_core::events::EventU32;
use satrs_core::pool::{LocalPool, PoolCfg};
use satrs_core::pus::event_man::{
    DefaultPusMgmtBackendProvider, EventReporter, EventRequestWithToken, PusEventDispatcher,
};
use satrs_core::pus::verification::{
    MpscVerifSender, VerificationReporterCfg, VerificationReporterWithSender,
};
use satrs_core::seq_count::SeqCountProviderSyncClonable;
use strum::IntoEnumIterator;

use crate::can_ids::{
    load_message_id_to_apids, load_message_id_to_threads, DeviceId, MessageModel,
};
use chrono::Duration;
use log::info;
use satrs_core::power::{SwitchId, SwitchState};
use std::collections::HashMap;
use std::net::{IpAddr, SocketAddr};
use std::sync::mpsc::channel;
use std::sync::{mpsc, Arc, Mutex, RwLock};
use std::thread;
//use libc::time64_t;
use crate::aocs::{AocsController, MGMHandler, STRHandler, GPSHandler, CSSHandler};
#[cfg(feature = "can")]
use crate::can::CanTxHandler;
use crate::helpers::{ModeHelper, VerifHelper};
use crate::hk::{AocsDataMap, AocsHousekeeper};
use crate::pld_handler::core_pld_task;
use crate::power_handler::{core_power_task, DeviceState, PowerSwitcher};

fn main() {
    logger::setup_logger().unwrap();
    info!("Running DemoSat OBSW!");

    let tm_pool = LocalPool::new(PoolCfg::new(vec![
        (30, 32),
        (15, 64),
        (15, 128),
        (15, 256),
        (15, 1024),
        (15, 2048),
    ]));
    let tm_store = TmStore {
        pool: Arc::new(RwLock::new(Box::new(tm_pool))),
    };
    let tc_pool = LocalPool::new(PoolCfg::new(vec![
        (30, 32),
        (15, 64),
        (15, 128),
        (15, 256),
        (15, 1024),
        (15, 2048),
    ]));
    let tc_store = TcStore {
        pool: Arc::new(RwLock::new(Box::new(tc_pool))),
    };

    let seq_count_provider = SeqCountProviderSyncClonable::default();
    let msg_count_provider = SeqCountProviderSyncClonable::default();
    let aocs_hk_seq_count_provider = SeqCountProviderSyncClonable::default();
    let aocs_ctrl_seq_count_provider = SeqCountProviderSyncClonable::default();
    let mgm_seq_count_provider = SeqCountProviderSyncClonable::default();
    let css_seq_count_provider = SeqCountProviderSyncClonable::default();
    let str_seq_count_provider = SeqCountProviderSyncClonable::default();
    let gps_seq_count_provider = SeqCountProviderSyncClonable::default();
    let verif_seq_count_provider = seq_count_provider.clone();
    let tmtc_seq_count_provider = seq_count_provider.clone();

    let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
    let (tc_source_tx, tc_source_rx) = channel();
    let (tm_funnel_tx, tm_funnel_rx) = channel();
    let (tm_server_tx, tm_server_rx) = channel();
    let verif_sender = MpscVerifSender::new(1, "name", tm_store.pool.clone(), tm_funnel_tx.clone());
    let verif_cfg = VerificationReporterCfg::new(
        PUS_APID,
        Box::new(verif_seq_count_provider.clone()),
        Box::new(msg_count_provider),
        1,
        2,
        8,
    )
    .unwrap();

    let verif_reporter = VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));

    // Create event handling components
    let (event_request_tx, event_request_rx) = channel::<EventRequestWithToken>();
    let (event_sender, event_man_rx) = channel();
    let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
    let mut event_man = EventManagerWithMpscQueue::new(Box::new(event_recv));
    let event_reporter = EventReporter::new(PUS_APID, 128).unwrap();
    let pus_tm_backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
    let pus_event_dispatcher = PusEventDispatcher::new(event_reporter, Box::new(pus_tm_backend));
    let (pus_event_man_tx, pus_event_man_rx) = channel();
    let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
    let reporter_event_handler = verif_reporter.clone();
    let reporter_aocs = verif_reporter.clone();
    let mut reporter_pld = verif_reporter.clone();
    event_man.subscribe_all(pus_event_man_send_provider.id());

    // possibly deprecated, as the apid should replace the target id
    let mut request_map = HashMap::new();
    let (aocs_thread_tx, aocs_thread_rx) = channel::<RequestWithToken>();
    let (pld_thread_tx, pld_thread_rx) = channel::<RequestWithToken>();
    let (pwr_thread_tx, pwr_thread_rx) = channel::<RequestWithToken>();
    let (aocs_hk_tx, aocs_hk_rx) = channel::<RequestWithToken>();
    let (mgm_tx, mgm_rx) = channel::<RequestWithToken>();
    let (css_tx, css_rx) = channel::<RequestWithToken>();
    let (str_tx, str_rx) = channel::<RequestWithToken>();
    let (gps_tx, gps_rx) = channel::<RequestWithToken>();
    let (mgt_tx, mgt_rx) = channel::<RequestWithToken>();
    let (rwl_tx, rwl_rx) = channel::<RequestWithToken>();
    request_map.insert(RequestTargetId::AcsSubsystem as u32, aocs_thread_tx.clone());
    request_map.insert(RequestTargetId::PldSubsystem as u32, pld_thread_tx.clone());
    //add here receivers for tmtc task to send requests to
    //request_map.insert(RequestTargetId::CanTask as u32, can_thread_tx);

    let tc_source = PusTcSource {
        tc_store,
        tc_source: tc_source_tx,
    };

    let mut apid_map = HashMap::new();
    apid_map.insert(PLD_APID, pld_thread_tx.clone());
    apid_map.insert(PWR_APID, pwr_thread_tx.clone());
    apid_map.insert(AOCS_APID, aocs_thread_tx.clone());
    apid_map.insert(AOCS_HK_APID, aocs_hk_tx.clone());
    apid_map.insert(MGM_APID, mgm_tx.clone());
    apid_map.insert(CSS_APID, css_tx.clone());
    apid_map.insert(STR_APID, str_tx.clone());
    apid_map.insert(GPS_APID, gps_tx.clone());
    apid_map.insert(MGT_APID, mgt_tx.clone());
    apid_map.insert(RWL_APID, rwl_tx.clone());

    // Create clones here to allow moving the values
    let core_args = OtherArgs {
        sock_addr,
        verif_reporter: verif_reporter.clone(),
        event_sender,
        event_request_tx,
        request_map,
        apid_map,
        seq_count_provider: verif_seq_count_provider,
    };
    let tc_args = TcArgs {
        tc_source,
        tc_receiver: tc_source_rx,
    };
    let tm_args = TmArgs {
        tm_store: tm_store.clone(),
        tm_sink_sender: tm_funnel_tx.clone(),
        tm_server_rx,
    };

    let (mgm_can_tx, mgm_can_rx) = mpsc::channel::<MessageModel>();
    let (mgt_can_tx, mgt_can_rx) = mpsc::channel::<MessageModel>();
    let (css_can_tx, css_can_rx) = mpsc::channel::<MessageModel>();
    let (rwl_can_tx, rwl_can_rx) = mpsc::channel::<MessageModel>();
    let (str_can_tx, str_can_rx) = mpsc::channel::<MessageModel>();
    let (gps_can_tx, gps_can_rx) = mpsc::channel::<MessageModel>();
    let (power_can_tx, power_can_rx) = mpsc::channel::<MessageModel>();
    let (pld_can_tx, pld_can_rx) = mpsc::channel::<MessageModel>();

    // make tx thread id hashmap
    let mut can_senders = HashMap::new();
    can_senders.insert(PWR_APID, power_can_tx);
    can_senders.insert(PLD_APID, pld_can_tx);
    can_senders.insert(MGM_APID, mgm_can_tx);
    can_senders.insert(MGT_APID, mgt_can_tx);
    can_senders.insert(RWL_APID, rwl_can_tx);
    can_senders.insert(CSS_APID, css_can_tx);
    can_senders.insert(STR_APID, str_can_tx);
    can_senders.insert(GPS_APID, gps_can_tx);

    // get package id hashmap
    let message_ids_rx = load_message_id_to_apids();

    info!("Starting TMTC task");
    let builder0 = thread::Builder::new().name("TMTCThread".into());
    let jh0 = builder0.spawn(move || {
        core_tmtc_task(core_args, tc_args, tm_args);
    });

    let (can_tx_sender, can_tx_receiver) = channel();

    #[cfg(feature = "can")]
    let mut can_rx_socket =
        can::CanRxHandler::new_socket("can0", can_senders.clone(), message_ids_rx.clone()).unwrap();

    #[cfg(feature = "can")]
    info!("Starting CAN Socket listening task");
    let builder1 = thread::Builder::new().name("CanRxHandler".into());
    let jh1 = builder1.spawn(move || loop {
        #[cfg(feature = "can")]
        can_rx_socket.process_incoming();
    });

    #[cfg(feature = "can")]
    let mut can_tx_socket =
        CanTxHandler::new_socket("can0", message_ids_rx.clone(), can_tx_receiver).unwrap();

    #[cfg(feature = "can")]
    info!("Starting CAN Socket writing task");
    let builder_can_tx = thread::Builder::new().name("TxHandler".into());
    let jh_can_tx = builder_can_tx.spawn(move || loop {
        #[cfg(feature = "can")]
        can_tx_socket.process_incoming();
    });

    let (pcdu_tx, pcdu_rx) = mpsc::channel::<(SwitchId, SwitchState)>();
    let pcdu_can_tx_sender = can_tx_sender.clone();

    let mut device_state_map = HashMap::new();
    for id in DeviceId::iter() {
        device_state_map.insert(id, SwitchState::Off);
    }
    let clonable_device_state_map = Arc::new(Mutex::new(device_state_map));

    let power_switcher = PowerSwitcher::new(pcdu_tx, clonable_device_state_map.clone());

    info!("Starting Power Handling task");
    let builder2 = thread::Builder::new().name("PowerThread".into());
    let jh2 = builder2.spawn(move || {
        core_power_task(
            pcdu_rx,
            pcdu_can_tx_sender,
            power_can_rx,
            clonable_device_state_map.clone(),
        );
    });

    let package_map_pld_tx = load_message_id_to_threads();
    let pld_tm_funnel_tx = tm_funnel_tx.clone();
    let pld_tm_store = tm_store.clone();

    let pld_can_tx_sender = can_tx_sender.clone();

    let power_switcher_pld = power_switcher.clone();

    //let mut pcdu_tx_clone = pcdu_tx.clone();
    info!("Starting Payload Handling task");
    let builder3 = thread::Builder::new().name("PLDThread".into());
    let jh3 = builder3.spawn(move || {
        core_pld_task(
            power_switcher_pld.clone(),
            pld_thread_rx,
            pld_can_rx,
            pld_can_tx_sender,
            &mut reporter_pld,
        );
    });

    info!("Starting TM funnel task");
    let builder4 = thread::Builder::new().name("TMFunnelThread".into());
    let jh4 = builder4.spawn(move || {
        let tm_funnel = TmFunnel {
            tm_server_tx,
            tm_funnel_rx,
        };
        loop {
            if let Ok(addr) = tm_funnel.tm_funnel_rx.recv() {
                tm_funnel
                    .tm_server_tx
                    .send(addr)
                    .expect("Sending TM to server failed");
            }
        }
    });

    let package_map_aocs_tx = load_message_id_to_threads();
    let aocs_tm_funnel_tx = tm_funnel_tx.clone();
    let aocs_tm_store = tm_store.clone();

    let aocs_data_not_threadsafe = AocsDataMap::new();
    /*
    aocs_data_not_threadsafe
        .update_value(1, AocsDataType::float_value(1.0))
        .unwrap();
    aocs_data_not_threadsafe
        .update_value(2, AocsDataType::float_value(2.0))
        .unwrap();
    aocs_data_not_threadsafe
        .update_value(3, AocsDataType::float_value(3.0))
        .unwrap();
    aocs_data_not_threadsafe
        .update_value(4, AocsDataType::float_value(4.0))
        .unwrap();
    aocs_data_not_threadsafe
        .update_value(5, AocsDataType::float_value(5.0))
        .unwrap();
    aocs_data_not_threadsafe
        .update_value(6, AocsDataType::float_value(6.0))
        .unwrap();
    aocs_data_not_threadsafe
        .update_value(7, AocsDataType::float_value(7.0))
        .unwrap();
    aocs_data_not_threadsafe
        .update_value(8, AocsDataType::float_value(8.0))
        .unwrap();
    aocs_data_not_threadsafe
        .update_value(9, AocsDataType::float_value(9.0))
        .unwrap();
    aocs_data_not_threadsafe
        .update_value(10, AocsDataType::float_value(10.0))
        .unwrap();
    aocs_data_not_threadsafe
        .update_value(11, AocsDataType::float_value(11.0))
        .unwrap();
    aocs_data_not_threadsafe
        .update_value(12, AocsDataType::float_value(12.0))
        .unwrap();
    aocs_data_not_threadsafe
        .update_value(13, AocsDataType::float_value(13.0))
        .unwrap();
     */
    let aocs_data = Arc::new(Mutex::new(aocs_data_not_threadsafe));

    info!("Starting AOCS task");
    let builder5 = thread::Builder::new().name("AOCSThread".into());
    let jh5 = builder5.spawn(move || {
        let mut aocs_housekeeper = AocsHousekeeper::new_with_collection_interval(
            aocs_data.clone(),
            aocs_hk_rx,
            aocs_hk_seq_count_provider,
            aocs_tm_store.clone(),
            aocs_tm_funnel_tx.clone(),
            reporter_aocs.clone(),
            Duration::seconds(1),
        );

        let aocs_verif_helper = VerifHelper::new(verif_reporter.clone());
        let aocs_controller_mode_helper = ModeHelper::new(
            AOCS_APID,
            aocs_ctrl_seq_count_provider.clone(),
            aocs_tm_store.clone(),
            aocs_tm_funnel_tx.clone(),
        );

        let mut aocs_controller = AocsController::new(
            aocs_thread_rx,
            mgm_tx.clone(),
            css_tx.clone(),
            str_tx.clone(),
            gps_tx.clone(),
            aocs_ctrl_seq_count_provider.clone(),
            aocs_verif_helper.clone(),
            aocs_controller_mode_helper,
        );

        let mgm_mode_helper = ModeHelper::new(
            MGM_APID,
            mgm_seq_count_provider,
            aocs_tm_store.clone(),
            aocs_tm_funnel_tx.clone(),
        );

        let mut mgm_handler = MGMHandler::new(
            power_switcher.clone(),
            DeviceId::MGM1,
            DeviceState::Off,
            aocs_data.clone(),
            can_tx_sender.clone(),
            mgm_can_rx,
            mgm_rx,
            aocs_verif_helper.clone(),
            mgm_mode_helper,
        );

        let str_mode_helper = ModeHelper::new(
            STR_APID,
            str_seq_count_provider,
            aocs_tm_store.clone(),
            aocs_tm_funnel_tx.clone(),
        );

        let mut str_handler = STRHandler::new(
            power_switcher.clone(),
            DeviceId::StarTracker,
            DeviceState::Off,
            aocs_data.clone(),
            can_tx_sender.clone(),
            str_can_rx,
            str_rx,
            aocs_verif_helper.clone(),
            str_mode_helper,
        );

        let css_mode_helper = ModeHelper::new(
            CSS_APID,
            css_seq_count_provider,
            aocs_tm_store.clone(),
            aocs_tm_funnel_tx.clone(),
        );

        let mut css_handler = CSSHandler::new(
            power_switcher.clone(),
            DeviceId::SunSensor1,
            DeviceState::Off,
            aocs_data.clone(),
            can_tx_sender.clone(),
            css_can_rx,
            css_rx,
            aocs_verif_helper.clone(),
            css_mode_helper,
        );

        let gps_mode_helper = ModeHelper::new(
            GPS_APID,
            gps_seq_count_provider,
            aocs_tm_store.clone(),
            aocs_tm_funnel_tx.clone(),
        );

        let mut gps_handler = GPSHandler::new(
            power_switcher.clone(),
            DeviceId::GPS,
            DeviceState::Off,
            aocs_data.clone(),
            can_tx_sender.clone(),
            gps_can_rx,
            gps_rx,
            aocs_verif_helper.clone(),
            gps_mode_helper,
        );

        loop {
            aocs_housekeeper.periodic_op();
            aocs_controller.periodic_op();
            mgm_handler.periodic_op();
            str_handler.periodic_op();
            css_handler.periodic_op();
            gps_handler.periodic_op();
        }
    });

    jh0.unwrap()
        .join()
        .expect("Joining UDP TMTC server thread failed");

    jh1.unwrap()
        .join()
        .expect("Joining CAN Bus Listening thread failed");
    jh_can_tx
        .unwrap()
        .join()
        .expect("Joining CAN Bus Writing thread failed");
    jh2.unwrap().join().expect("Joining power thread failed");
    jh3.unwrap().join().expect("Joining PLD thread failed");
    jh4.unwrap()
        .join()
        .expect("Joining TM funnel thread failed");
    jh5.unwrap().join().expect("Joining AOCS thread failed");
}
#[derive(Default)]
struct MgmData {
    x: i16,
    y: i16,
    z: i16,
}