/*
 * Copyright (c) 2023 Fancy Code.
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
#include "MissionStateMachine.h"
#include "ILog.h"
#include "McuAskBase.h"
#include "MissionManagerMakePtr.h"
#include "TopState.h"
std::shared_ptr<MissionStateMachine> &MissionStateMachine::GetInstance(std::shared_ptr<MissionStateMachine> *impl)
{
    static auto instance = std::make_shared<MissionStateMachine>();
    if (impl) {
        instance = *impl;
    }
    return instance;
}
MissionStateMachine::MissionStateMachine()
{
    //
    mStartMission = IpcMission::END;
}
void MissionStateMachine::Init(void)
{
    mStateMachine = std::make_shared<VStateMachineHandle>();
    auto code = IStateMachine::GetInstance()->CreateStateMachine(mStateMachine);
    if (!IsCodeOK(code)) {
        LogError("Create state machine failed[%s].\n", code.mPrintStringCode(code));
        return;
    }
    if (!mStateMachine->InitialStateMachine()) {
        LogError("State machine init failed.\n");
        return;
    }
    mStartMission = GetStartMission();
    if (mStartMission == IpcMission::END) {
        LogError("ipcmission error, will start test mode.\n");
        mStartMission = IpcMission::TEST;
    }
    RunStateMachine(mStartMission);
}
void MissionStateMachine::UnInit(void)
{
    mStateMachine->StopHandlerThread();
    mStateTree.clear();
}
void MissionStateMachine::SwitchState(const MissionState &state)
{
    mStateMachine->SwitchState(mStateTree[state].get());
}
IpcMission MissionStateMachine::GetStartMission(void)
{
    class McuAskIpcMission : public McuAsk<IpcMission>, public McuAskBase
    {
    public:
        McuAskIpcMission() : McuAskBase(McuAskBlock::BLOCK, McuAskReply::NEED_REPLY)
        {
            mDataReply = IpcMission::END;
        }
        virtual ~McuAskIpcMission() = default;
    };
    std::shared_ptr<VMcuAsk> ask = std::make_shared<McuAskIpcMission>();
    IMcuManager::GetInstance()->GetIpcMission(ask);
    return std::dynamic_pointer_cast<McuAskIpcMission>(ask)->mDataReply;
}
void MissionStateMachine::RunStateMachine(const IpcMission &mission)
{
    LogInfo("Make all states and start the state machine.\n");
    mStateTree[MissionState::TOP_STATE] = MissionManagerMakePtr::GetInstance()->CreateTopState();
    mStateTree[MissionState::MISSION_STATE] = MissionManagerMakePtr::GetInstance()->CreateMissionState(mission);
    mStateMachine->StatePlus(mStateTree[MissionState::TOP_STATE].get(), nullptr);
    mStateMachine->StatePlus(mStateTree[MissionState::MISSION_STATE].get(), mStateTree[MissionState::TOP_STATE].get());
    mStateMachine->SetCurrentState(mStateTree[MissionState::TOP_STATE].get());
    mStateMachine->StartStateMachine();
}