#ifndef CMVR_ES_TASK_MANAGER_H
#define CMVR_ES_TASK_MANAGER_H

#include <memory>
#include <mutex>
#include <string>
#include <chrono>
#include <thread>
#include <unordered_map>
#include <atomic>
#include <vector>

#include "task/task.h"
#include "task/touch_screen_task/include/touch_screen_task.h"
#include "cmvr/config/task_manager_config/task_manager_config.pb.h"

namespace cmvr::task {

    class TaskManager {
    public:
        TaskManager(const TaskManager&) = delete;
        TaskManager& operator=(const TaskManager&) = delete;

        static TaskManager& getInstance(const config::TaskManagerConfig& cfg);
        static TaskManager& getInstance();
        static void destroyInstance();
        static std::vector<std::shared_ptr<Task>>
        activitySnapshotIfInitialized();
        static bool stopAllActivitiesIfInitialized(
            std::vector<std::string>* failures = nullptr);

        ~TaskManager();

        bool startRunTask(double control_period_s = 0.001);
        void stopRunTask();
        bool running() const { return running_.load(); }
        bool initialized() const noexcept { return initialized_; }

        std::shared_ptr<Task> getTask(const std::string& task_id) const;
        std::shared_ptr<TouchScreenTask> getTouchScreenTask(const std::string& task_id = "touch_screen") const;

        // Stops command-driven operational activity without stopping the
        // scheduler or destroying task/device lifecycle state.
        bool stopAllActivities(std::vector<std::string>* failures = nullptr);
        std::vector<std::shared_ptr<Task>> activitySnapshot() const;

    private:
        explicit TaskManager(const config::TaskManagerConfig& cfg);

        void logTaskPlan() const;
        bool initTasks();
        void runTaskLoop(double control_period_s);
        static TaskRunMode toTaskRunMode(config::TaskConfigEntry::TaskRunMode run_mode);

        static std::mutex init_mutex_;
        static std::shared_ptr<TaskManager> instance_;

        config::TaskManagerConfig cfg_;
        std::unordered_map<std::string, std::shared_ptr<Task>> tasks_;
        std::unordered_map<std::string, double> task_period_s_;
        std::unordered_map<std::string, std::chrono::steady_clock::time_point> next_step_time_;
        mutable std::mutex tasks_mutex_;
        std::mutex lifecycle_mutex_;
        std::atomic<bool> running_{false};
        std::thread run_thread_;
        bool initialized_{false};
    };

} // namespace cmvr::task

#endif // CMVR_ES_TASK_MANAGER_H