/**
 * @file test_full_system.c
 * @brief Full system integration tests
 */

#include "unity.h"
#include "kernel.h"
#include "task.h"
#include "semaphore.h"
#include "mutex.h"
#include "queue.h"
#include "can_driver.h"
#include "gpio_driver.h"
#include "adc_driver.h"
#include "pwm_driver.h"
#include "dtc_manager.h"
#include "watchdog_manager.h"
#include <string.h>

/* System test variables */
static volatile bool system_running = false;
static volatile uint32_t system_ticks = 0;
static Queue_t command_queue;
static Semaphore_t system_semaphore;

/* System tasks */
static void sensor_task(void* params) {
    (void)params;
    while (1) {
        /* Read sensors */
        uint16_t adc_value;
        adc_read_channel(0, 0, &adc_value, 10);

        kernel_delay(10);
    }
}

static void control_task(void* params) {
    (void)params;
    while (1) {
        /* Control loop */
        pwm_set_duty_cycle(0, 0, 5000);  /* 50% duty */

        kernel_delay(5);
    }
}

static void communication_task(void* params) {
    (void)params;
    while (1) {
        CanMessage_t msg = {
            .id = {.id = 0x100, .is_extended = false},
            .length = 8,
            .data = {1, 2, 3, 4, 5, 6, 7, 8}
        };

        can_send_message(&msg, 100);
        kernel_delay(50);
    }
}

static void monitor_task(void* params) {
    (void)params;
    while (1) {
        system_ticks++;
        watchdog_task_alive(scheduler_get_current_task());
        kernel_delay(100);
    }
}

/* Setup */
void setUp(void) {
    kernel_init();
    system_running = false;
    system_ticks = 0;

    /* Initialize subsystems */
    dtc_manager_init();
    watchdog_manager_init(1000);
}

/* Teardown */
void tearDown(void) {
    kernel_stop();
}

/* ============================================================================
 * Test Cases
 * ============================================================================ */

/**
 * @brief Test full system startup
 */
void test_system_startup(void) {
    /* Create all system tasks */
    TaskConfig_t sensor_config = {
        .name = "sensor",
        .function = sensor_task,
        .parameters = NULL,
        .stack_size = 1024,
        .priority = 2,
        .period_ticks = 0
    };
    task_create(&sensor_config);

    TaskConfig_t control_config = {
        .name = "control",
        .function = control_task,
        .parameters = NULL,
        .stack_size = 1024,
        .priority = 1,
        .period_ticks = 0
    };
    task_create(&control_config);

    TaskConfig_t comm_config = {
        .name = "comm",
        .function = communication_task,
        .parameters = NULL,
        .stack_size = 2048,
        .priority = 3,
        .period_ticks = 0
    };
    task_create(&comm_config);

    TaskConfig_t monitor_config = {
        .name = "monitor",
        .function = monitor_task,
        .parameters = NULL,
        .stack_size = 1024,
        .priority = 4,
        .period_ticks = 0
    };
    task_create(&monitor_config);

    /* Start system */
    kernel_start();
    system_running = true;

    /* Let system run */
    kernel_delay(500);

    TEST_ASSERT_TRUE(system_running);
    TEST_ASSERT_GREATER_THAN(0, system_ticks);
}

/**
 * @brief Test system communication
 */
void test_system_communication(void) {
    /* Create communication test */
    CanMessage_t test_msg = {
        .id = {.id = 0x200, .is_extended = false},
        .length = 4,
        .data = {0xAA, 0xBB, 0xCC, 0xDD}
    };

    TEST_ASSERT_EQUAL(KERNEL_OK, can_send_message(&test_msg, 1000));

    kernel_delay(10);

    CanStatistics_t stats;
    can_get_statistics(&stats);
    TEST_ASSERT_GREATER_THAN(0, stats.tx_messages);
}

/**
 * @brief Test system diagnostics
 */
void test_system_diagnostics(void) {
    /* Add test DTC */
    DtcCode_t dtc = {
        .high_byte = 0x01,
        .middle_byte = 0x02,
        .low_byte = 0x03
    };

    TEST_ASSERT_EQUAL(KERNEL_OK, dtc_manager_add_dtc(&dtc, 3));
    TEST_ASSERT_EQUAL(1, dtc_manager_get_count());

    /* Clear DTCs */
    TEST_ASSERT_EQUAL(KERNEL_OK, dtc_manager_clear_all());
    TEST_ASSERT_EQUAL(0, dtc_manager_get_count());
}

/* ============================================================================
 * Test Runner
 * ============================================================================ */
int main(void) {
    UNITY_BEGIN();

    RUN_TEST(test_system_startup);
    RUN_TEST(test_system_communication);
    RUN_TEST(test_system_diagnostics);

    return UNITY_END();
}