#include "plugin_instance.h"

#include "from_tab.h"
#include "uav_ia_manager.h"

#include <TrainingAreaBase/send_to_dds.h>
#include <TrainingAreaBase/training_area_telegrams.h>
#include <CentralEffectSimulation/ces_dtc.h>
#include <ProjectDataManagement/pdm_dtc.h>
#include <ParticipantManagement/ppm.hpp>
#include <FileManagement/flm_dtc.h>
#include <Lts/Services/FileManagement/flm_ftc.h>

#include <TmsIfAdapter/module_loader.h>
#include <TmsIfAdapter/tms_if_adapter.h>
#include <TmsIfAdapter/uav_commander.h>

#include <QtCore/QCoreApplication>


namespace UAS
{
TmsIfModuleHandle::TmsIfModuleHandle() : m_handle(ModuleLoader::load(QString(QCoreApplication::applicationDirPath() + QStringLiteral("/../lib/")).toStdString())),
    m_logger(NGL::NGLLoggerBootstrap::getNGLRootLogger()) {}


TmsIfModuleHandle::~TmsIfModuleHandle()
{
  try
  {
    ModuleLoader::unload(m_handle);
  }
  catch(std::exception &ex)
  {
    qDebug() << "failed to unload tms-if adapter module! " << ex.what();
  }
}


PluginInstance::PluginInstance(TrainingAreaBase::Plugin::DataProvider *dataProvider,
                               const std::shared_ptr<TrainingAreaBase::RecvFromTab> &sendToDds,
                               const std::shared_ptr<TrainingAreaBase::DdsHandler> &ddsHandler,
                               NGL::Settings *settings)
  : m_exerciseId(dataProvider->exerciseId())
  , m_sendToDds(sendToDds)
  , m_settings(settings)
  , m_tmsIfAdapter(ModuleLoader::get(m_tmsIfModuleHandle()))
  , m_ddsHandler(ddsHandler)
  , m_dtcPdm(ProjectDataManagement::Interface::Dtc::create(m_ddsHandler->ddsConnector()))
  , m_dtcPpm(ParticipantManagement::Interface::Dtc::create(m_ddsHandler->ddsConnector()))
  , m_uavIAManager(new UAVInterfaceAdapterManager(m_ddsHandler, m_sendToDds, m_tmsIfAdapter, m_exerciseId, this))
  , m_fromTab(new FromTab(ddsHandler, m_sendToDds, m_uavIAManager, m_exerciseId))
{
  DEBUG_LOG(m_logger) << "UAS PluginInstance running!";

  if (!m_dtcPdm)
  {
    WARNING_LOG(m_logger) << "m_dtcPdm failed";
    throw std::runtime_error("m_dtcPdm failed");
  }
  m_dtcPdm->enableChargeType(); 
  m_dtcPdm->waitForHistoricalDataChargeType(3000);


  if (!m_dtcPpm)
  {
    WARNING_LOG(m_logger) << "m_dtcPpm failed";
    throw std::runtime_error("m_dtcPpm failed");
  }
  m_dtcPpm->enableParticipant(); 
  m_dtcPpm->waitForHistoricalDataParticipant(3000);


  
  if (m_tmsIfAdapter.isReady()) 
  {
    m_uavIAManager->init();
  }
  else
  {
    m_tmsIfAdapter.set_isReady_Callback([this]()
    {
      m_uavIAManager->init();
    });
  }
}


bool PluginInstance::init()
{
  return true;
}


std::shared_ptr<TrainingAreaBase::SendToTab> PluginInstance::sendToTab()
{
  return m_fromTab;
}


bool PluginInstance::canSendData() const
{
  return true;
}
}