eive-obsw/bsp_q7s/core/ObjectFactory.cpp

#include <sstream>
#include "ObjectFactory.h"

#include "bsp_q7s/devices/startracker/StrHelper.h"
#include "bsp_q7s/devices/startracker/StarTrackerDefinitions.h"
#include "OBSWConfig.h"
#include "devConf.h"
#include "ccsdsConfig.h"
#include "busConf.h"
#include "tmtc/apid.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "tmtc/pusIds.h"
#include "devices/powerSwitcherList.h"
#include "bsp_q7s/gpio/gpioCallbacks.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/memory/FileSystemHandler.h"
#include "bsp_q7s/devices/PlocSupervisorHandler.h"
#include "bsp_q7s/devices/PlocUpdater.h"
#include "bsp_q7s/devices/PlocMemoryDumper.h"
#include "bsp_q7s/devices/startracker/StarTrackerHandler.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/callbacks/gnssCallback.h"

#include "linux/devices/SolarArrayDeploymentHandler.h"
#include "linux/devices/devicedefinitions/SusDefinitions.h"
#include "linux/devices/SusHandler.h"
#include "linux/csp/CspCookie.h"
#include "linux/csp/CspComIF.h"

#include "mission/devices/HeaterHandler.h"
#include "mission/core/GenericFactory.h"
#include "mission/devices/PDU1Handler.h"
#include "mission/devices/PDU2Handler.h"
#include "mission/devices/ACUHandler.h"
#include "mission/devices/PCDUHandler.h"
#include "mission/devices/P60DockHandler.h"
#include "mission/devices/Tmp1075Handler.h"
#include "mission/devices/Max31865PT1000Handler.h"
#include "mission/devices/GyroADIS1650XHandler.h"
#include "mission/devices/IMTQHandler.h"
#include "mission/devices/SyrlinksHkHandler.h"
#include "mission/devices/PlocMPSoCHandler.h"
#include "mission/devices/RadiationSensorHandler.h"
#include "mission/devices/RwHandler.h"
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
#include "mission/devices/devicedefinitions/PlocMPSoCDefinitions.h"
#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h"

#include "mission/devices/GPSHyperionHandler.h"
#include "mission/tmtc/CCSDSHandler.h"
#include "mission/tmtc/VirtualChannel.h"
#include "mission/utility/TmFunnel.h"

#include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw_hal/linux/uart/UartCookie.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/linux/i2c/I2cCookie.h"
#include "fsfw_hal/linux/i2c/I2cComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"

#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "fsfw/tmtcpacket/pus/tm.h"

#include "linux/boardtest/SpiTestClass.h"

#if OBSW_TEST_LIBGPIOD == 1
#include "linux/boardtest/LibgpiodTest.h"
#endif

#include <linux/obc/Ptme.h>
#include <linux/obc/PdecHandler.h>
#include <linux/obc/PapbVcInterface.h>
#include <linux/obc/PtmeConfig.h>
#include <linux/obc/PtmeRateSetter.h>
#include <linux/obc/TxRateSetterIF.h>

ResetArgs resetArgsGnss0;
ResetArgs resetArgsGnss1;

void ObjectFactory::setStatics() {
    Factory::setStaticFrameworkObjectIds();
}

void Factory::setStaticFrameworkObjectIds() {
    PusServiceBase::packetSource = objects::PUS_PACKET_DISTRIBUTOR;
    PusServiceBase::packetDestination = objects::TM_FUNNEL;

    CommandingServiceBase::defaultPacketSource = objects::PUS_PACKET_DISTRIBUTOR;
    CommandingServiceBase::defaultPacketDestination = objects::TM_FUNNEL;

    //DeviceHandlerBase::powerSwitcherId = objects::PCDU_HANDLER;
    DeviceHandlerBase::powerSwitcherId = objects::NO_OBJECT;

#if OBSW_TM_TO_PTME == 1
    TmFunnel::downlinkDestination = objects::CCSDS_HANDLER;
#else
    TmFunnel::downlinkDestination = objects::TMTC_BRIDGE;
#endif /* OBSW_TM_TO_PTME == 1 */
    // No storage object for now.
    TmFunnel::storageDestination = objects::NO_OBJECT;

    LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;

    VerificationReporter::messageReceiver = objects::PUS_SERVICE_1_VERIFICATION;
    TmPacketBase::timeStamperId = objects::TIME_STAMPER;
}

void ObjectFactory::produce(void* args) {
    ObjectFactory::setStatics();
    ObjectFactory::produceGenericObjects();

    LinuxLibgpioIF* gpioComIF = nullptr;
    UartComIF* uartComIF = nullptr;
    SpiComIF* spiComIF = nullptr;
    createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF);
    createTmpComponents();
#if BOARD_TE0720 == 0
    new CoreController(objects::CORE_CONTROLLER);

    createPcduComponents();
    createRadSensorComponent(gpioComIF);
    createSunSensorComponents(gpioComIF, spiComIF);

#if OBSW_ADD_ACS_BOARD == 1
    createAcsBoardComponents(gpioComIF, uartComIF);
#endif /* OBSW_ADD_ACS_BOARD == 1 */
    createHeaterComponents();
    createSolarArrayDeploymentComponents();
#if OBSW_ADD_SYRLINKS == 1
    createSyrlinksComponents();
#endif /* OBSW_ADD_SYRLINKS == 1 */

#if OBSW_ADD_RTD_DEVICES == 1
    createRtdComponents(gpioComIF);
#endif /* OBSW_ADD_RTD_DEVICES == 1 */

    I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
            q7s::I2C_DEFAULT_DEV);
    new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
    createReactionWheelComponents(gpioComIF);

#if OBSW_ADD_PLOC_MPSOC == 1
    UartCookie* plocMpsocCookie = new UartCookie(objects::PLOC_MPSOC_HANDLER,
            q7s::UART_PLOC_MPSOC_DEV, UartModes::NON_CANONICAL, uart::PLOC_MPSOC_BAUD,
            PLOC_MPSOC::MAX_REPLY_SIZE);
    new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF, plocMpsocCookie);
#endif /* OBSW_ADD_PLOC_MPSOC == 1 */

#if OBSW_ADD_PLOC_SUPERVISOR == 1
    UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
            q7s::UART_PLOC_SUPERVSIOR_DEV, UartModes::NON_CANONICAL, uart::PLOC_SUPERVISOR_BAUD,
            PLOC_SPV::MAX_PACKET_SIZE * 20);
    plocSupervisorCookie->setNoFixedSizeReply();
    PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
            objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
    plocSupervisor->setStartUpImmediately();
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */

    new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);

#if OBSW_ADD_STAR_TRACKER == 1
    UartCookie* starTrackerCookie = new UartCookie(objects::STAR_TRACKER,
            q7s::UART_STAR_TRACKER_DEV, UartModes::NON_CANONICAL, uart::STAR_TRACKER_BAUD,
            StarTracker::MAX_FRAME_SIZE* 2 + 2);
    starTrackerCookie->setNoFixedSizeReply();
    StrHelper* strHelper = new StrHelper(objects::STR_HELPER);
    StarTrackerHandler* starTrackerHandler = new StarTrackerHandler(objects::STAR_TRACKER,
            objects::UART_COM_IF, starTrackerCookie, strHelper);
    starTrackerHandler->setStartUpImmediately();

#endif /* OBSW_ADD_STAR_TRACKER == 1 */

#endif /* TE7020 == 0 */

#if OBSW_USE_CCSDS_IP_CORE == 1
    createCcsdsComponents(gpioComIF);
#endif /* OBSW_USE_CCSDS_IP_CORE == 1 */

    /* Test Task */
#if OBSW_ADD_TEST_CODE == 1
    createTestComponents(gpioComIF);
#endif /* OBSW_ADD_TEST_CODE == 1 */

    new PlocUpdater(objects::PLOC_UPDATER);
    new PlocMemoryDumper(objects::PLOC_MEMORY_DUMPER);
}

void ObjectFactory::createTmpComponents() {
#if BOARD_TE0720 == 1
    I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
            TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
    I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
            TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-0"));
#else
    I2cCookie* i2cCookieTmp1075tcs1 = new I2cCookie(addresses::TMP1075_TCS_1,
            TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
    I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
            TMP1075::MAX_REPLY_LENGTH, q7s::I2C_DEFAULT_DEV);
#endif

    /* Temperature sensors */
    Tmp1075Handler* tmp1075Handler_1 = new Tmp1075Handler(objects::TMP1075_HANDLER_1,
            objects::I2C_COM_IF, i2cCookieTmp1075tcs1);
    (void) tmp1075Handler_1;
    Tmp1075Handler* tmp1075Handler_2 = new Tmp1075Handler(objects::TMP1075_HANDLER_2,
            objects::I2C_COM_IF, i2cCookieTmp1075tcs2);
    (void) tmp1075Handler_2;
}

void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF **gpioComIF, UartComIF** uartComIF,
        SpiComIF** spiComIF) {
    if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
        sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
                << std::endl;
    }
    *gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);

    /* Communication interfaces */
    new CspComIF(objects::CSP_COM_IF);
    new I2cComIF(objects::I2C_COM_IF);
    *uartComIF = new UartComIF(objects::UART_COM_IF);
#if OBSW_ADD_SPI_TEST_CODE == 0
    *spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);
#endif /* Q7S_ADD_SPI_TEST_CODE == 0 */

#if BOARD_TE0720 == 0
    /* Adding gpios for chip select decoding to the gpioComIf */
    gpioCallbacks::initSpiCsDecoder(*gpioComIF);
#endif
}

void ObjectFactory::createPcduComponents() {
    CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
    CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
    CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
    CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
    /* Device Handler */
    P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER,
            objects::CSP_COM_IF, p60DockCspCookie);
    PDU1Handler* pdu1handler = new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF,
            pdu1CspCookie);
    PDU2Handler* pdu2handler = new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
            pdu2CspCookie);
    ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF,
            acuCspCookie);
    new PCDUHandler(objects::PCDU_HANDLER, 50);

    /**
     * Setting PCDU devices to mode normal immediately after start up because PCDU is always
     * running.
     */
    p60dockhandler->setModeNormal();
    pdu1handler->setModeNormal();
    pdu2handler->setModeNormal();
    acuhandler->setModeNormal();
}

void ObjectFactory::createRadSensorComponent(LinuxLibgpioIF* gpioComIF) {
    GpioCookie* gpioCookieRadSensor = new GpioCookie;
    std::stringstream consumer;
    consumer << "0x" << std::hex << objects::RAD_SENSOR;
    GpiodRegularByLineName* gpio = new GpiodRegularByLineName(
            q7s::gpioNames::RAD_SENSOR_CHIP_SELECT, consumer.str(), gpio::DIR_OUT, gpio::HIGH);
    gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, gpio);
    gpioComIF->addGpios(gpioCookieRadSensor);

    SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR,
            std::string(q7s::SPI_DEFAULT_DEV), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
            spi::DEFAULT_MAX_1227_SPEED);
    new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
}

void ObjectFactory::createSunSensorComponents(LinuxLibgpioIF *gpioComIF, SpiComIF* spiComIF) {
    GpioCookie* gpioCookieSus = new GpioCookie();
    GpioCallback* susgpio = nullptr;

    susgpio = new GpioCallback("Chip select SUS 1", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
    susgpio = new GpioCallback("Chip select SUS 2", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
    susgpio = new GpioCallback("Chip select SUS 3", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
    susgpio = new GpioCallback("Chip select SUS 4", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
    susgpio = new GpioCallback("Chip select SUS 5", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
    susgpio = new GpioCallback("Chip select SUS 6", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
    susgpio = new GpioCallback("Chip select SUS 7", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
    susgpio = new GpioCallback("Chip select SUS 8", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
    susgpio = new GpioCallback("Chip select SUS 9", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
    susgpio = new GpioCallback("Chip select SUS 10", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
    susgpio = new GpioCallback("Chip select SUS 11", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
    susgpio = new GpioCallback("Chip select SUS 12", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_12, susgpio);
    susgpio = new GpioCallback("Chip select SUS 13", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_13, susgpio);

    gpioComIF->addGpios(gpioCookieSus);

    SpiCookie* spiCookieSus1 = new SpiCookie(addresses::SUS_1, gpio::NO_GPIO,
            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
            SUS::MAX1227_SPI_FREQ);
    SpiCookie* spiCookieSus2 = new SpiCookie(addresses::SUS_2, gpio::NO_GPIO,
            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
            SUS::MAX1227_SPI_FREQ);
    SpiCookie* spiCookieSus3 = new SpiCookie(addresses::SUS_3, gpio::NO_GPIO,
            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
            SUS::MAX1227_SPI_FREQ);
    SpiCookie* spiCookieSus4 = new SpiCookie(addresses::SUS_4, gpio::NO_GPIO,
            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
            SUS::MAX1227_SPI_FREQ);
    SpiCookie* spiCookieSus5 = new SpiCookie(addresses::SUS_5, gpio::NO_GPIO,
            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
            SUS::MAX1227_SPI_FREQ);
    SpiCookie* spiCookieSus6 = new SpiCookie(addresses::SUS_6, gpio::NO_GPIO,
            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
            SUS::MAX1227_SPI_FREQ);
    SpiCookie* spiCookieSus7 = new SpiCookie(addresses::SUS_7, gpio::NO_GPIO,
            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
            SUS::MAX1227_SPI_FREQ);
    SpiCookie* spiCookieSus8 = new SpiCookie(addresses::SUS_8, gpio::NO_GPIO,
            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
            SUS::MAX1227_SPI_FREQ);
    SpiCookie* spiCookieSus9 = new SpiCookie(addresses::SUS_9, gpio::NO_GPIO,
            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
            SUS::MAX1227_SPI_FREQ);
    SpiCookie* spiCookieSus10 = new SpiCookie(addresses::SUS_10, gpio::NO_GPIO,
            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
            SUS::MAX1227_SPI_FREQ);
    SpiCookie* spiCookieSus11 = new SpiCookie(addresses::SUS_11, gpio::NO_GPIO,
            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
            SUS::MAX1227_SPI_FREQ);
    SpiCookie* spiCookieSus12 = new SpiCookie(addresses::SUS_12, gpio::NO_GPIO,
            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
            SUS::MAX1227_SPI_FREQ);
    SpiCookie* spiCookieSus13 = new SpiCookie(addresses::SUS_13, gpio::NO_GPIO,
            std::string(q7s::SPI_DEFAULT_DEV), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
            SUS::MAX1227_SPI_FREQ);

    new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus1, gpioComIF,
            gpioIds::CS_SUS_1);
    new SusHandler(objects::SUS_2, objects::SPI_COM_IF, spiCookieSus2, gpioComIF,
            gpioIds::CS_SUS_2);
    new SusHandler(objects::SUS_3, objects::SPI_COM_IF, spiCookieSus3, gpioComIF,
            gpioIds::CS_SUS_3);
    new SusHandler(objects::SUS_4, objects::SPI_COM_IF, spiCookieSus4, gpioComIF,
            gpioIds::CS_SUS_4);
    new SusHandler(objects::SUS_5, objects::SPI_COM_IF, spiCookieSus5, gpioComIF,
            gpioIds::CS_SUS_5);
    new SusHandler(objects::SUS_6, objects::SPI_COM_IF, spiCookieSus6, gpioComIF,
            gpioIds::CS_SUS_6);
    new SusHandler(objects::SUS_7, objects::SPI_COM_IF, spiCookieSus7, gpioComIF,
            gpioIds::CS_SUS_7);
    new SusHandler(objects::SUS_8, objects::SPI_COM_IF, spiCookieSus8, gpioComIF,
            gpioIds::CS_SUS_8);
    new SusHandler(objects::SUS_9, objects::SPI_COM_IF, spiCookieSus9, gpioComIF,
            gpioIds::CS_SUS_9);
    new SusHandler(objects::SUS_10, objects::SPI_COM_IF, spiCookieSus10, gpioComIF,
            gpioIds::CS_SUS_10);
    new SusHandler(objects::SUS_11, objects::SPI_COM_IF, spiCookieSus11, gpioComIF,
            gpioIds::CS_SUS_11);
    new SusHandler(objects::SUS_12, objects::SPI_COM_IF, spiCookieSus12, gpioComIF,
            gpioIds::CS_SUS_12);
    new SusHandler(objects::SUS_13, objects::SPI_COM_IF, spiCookieSus13, gpioComIF,
            gpioIds::CS_SUS_13);
}

void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF *gpioComIF, UartComIF* uartComIF) {
    GpioCookie* gpioCookieAcsBoard = new GpioCookie();

    std::stringstream consumer;
    GpiodRegularByLineName* gpio = nullptr;
    consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ADIS_CS, consumer.str(),
            gpio::DIR_OUT, gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);

    consumer.str("");
    consumer << "0x" << std::hex << objects::GYRO_1_L3G_HANDLER;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_1_L3G_CS, consumer.str(), gpio::DIR_OUT,
            gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);

    consumer.str("");
    consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ADIS_CS, consumer.str(), gpio::DIR_OUT,
            gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ADIS_CS, gpio);

    consumer.str("");
    consumer << "0x" << std::hex << objects::GYRO_3_L3G_HANDLER;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_3_L3G_CS, consumer.str(), gpio::DIR_OUT,
            gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_3_L3G_CS, gpio);

    consumer.str("");
    consumer << "0x" << std::hex << objects::MGM_0_LIS3_HANDLER;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_0_CS, consumer.str(), gpio::DIR_OUT,
            gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);

    consumer.str("");
    consumer << "0x" << std::hex << objects::MGM_1_RM3100_HANDLER;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_1_CS, consumer.str(), gpio::DIR_OUT,
            gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);

    consumer.str("");
    consumer << "0x" << std::hex << objects::MGM_2_LIS3_HANDLER;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_2_CS, consumer.str(),
            gpio::DIR_OUT, gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);

    consumer.str("");
    consumer << "0x" << std::hex << objects::MGM_3_RM3100_HANDLER;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::MGM_3_CS, consumer.str(), gpio::DIR_OUT,
            gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);

    consumer.str("");
    consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
    // GNSS reset pins are active low
    gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_0, consumer.str(), gpio::DIR_OUT,
            gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_NRESET, gpio);

    consumer.str("");
    consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::RESET_GNSS_1, consumer.str(), gpio::DIR_OUT,
            gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_NRESET, gpio);

    consumer.str("");
    consumer << "0x" << std::hex << objects::GYRO_0_ADIS_HANDLER;
    // Enable pins must be pulled low for regular operations
    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_0_ENABLE, consumer.str(),
            gpio::DIR_OUT, gpio::LOW);
    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ENABLE, gpio);

    consumer.str("");
    consumer << "0x" << std::hex << objects::GYRO_2_ADIS_HANDLER;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::GYRO_2_ENABLE, consumer.str(), gpio::DIR_OUT,
            gpio::LOW);
    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_ENABLE, gpio);

    // Enable pins for GNSS
    consumer.str("");
    consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_0_ENABLE, consumer.str(),
            gpio::DIR_OUT, gpio::LOW);
    gpioCookieAcsBoard->addGpio(gpioIds::GNSS_0_ENABLE, gpio);

    consumer.str("");
    consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_1_ENABLE, consumer.str(), gpio::DIR_OUT,
            gpio::LOW);
    gpioCookieAcsBoard->addGpio(gpioIds::GNSS_1_ENABLE, gpio);

    gpioComIF->addGpios(gpioCookieAcsBoard);

    std::string spiDev = q7s::SPI_DEFAULT_DEV;
    SpiCookie* spiCookie = new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
            MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
    auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
            spiCookie, spi::LIS3_TRANSITION_DELAY);
    mgmLis3Handler->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
    mgmLis3Handler->setToGoToNormalMode(true);
#endif

    spiCookie = new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
            RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
    auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
            spiCookie, spi::RM3100_TRANSITION_DELAY);
    mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
    mgmRm3100Handler->setToGoToNormalMode(true);
#endif

    spiCookie = new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
            MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
    auto mgmLis3Handler2 = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
            spiCookie, spi::LIS3_TRANSITION_DELAY);
    mgmLis3Handler2->setStartUpImmediately();
#if FSFW_HAL_LIS3MDL_MGM_DEBUG == 1
    mgmLis3Handler2->setToGoToNormalMode(true);
#endif

    spiCookie = new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
            RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
    mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
            spiCookie, spi::RM3100_TRANSITION_DELAY);
    mgmRm3100Handler->setStartUpImmediately();
#if FSFW_HAL_RM3100_MGM_DEBUG == 1
    mgmRm3100Handler->setToGoToNormalMode(true);
#endif

    // Commented until ACS board V2 in in clean room again
    // Gyro 0 Side A
    spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
            spi::DEFAULT_ADIS16507_SPEED);
    auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
            spiCookie, ADIS1650X::Type::ADIS16505);
    adisHandler->setStartUpImmediately();
    // Gyro 1 Side A
    spiCookie = new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev,
            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
    auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
            spiCookie, spi::L3G_TRANSITION_DELAY);
    gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
    gyroL3gHandler->setToGoToNormalMode(true);
#endif
    // Gyro 2 Side B
    spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
            spi::DEFAULT_ADIS16507_SPEED);
    adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
            spiCookie, ADIS1650X::Type::ADIS16505);
    adisHandler->setStartUpImmediately();
    // Gyro 3 Side B
    spiCookie = new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev,
            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
    gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
            spiCookie, spi::L3G_TRANSITION_DELAY);
    gyroL3gHandler->setStartUpImmediately();
#if FSFW_HAL_L3GD20_GYRO_DEBUG == 1
    gyroL3gHandler->setToGoToNormalMode(true);
#endif

    bool debugGps = false;
#if OBSW_DEBUG_GPS == 1
    debugGps = true;
#endif
    resetArgsGnss1.gnss1 = true;
    resetArgsGnss1.gpioComIF = gpioComIF;
    resetArgsGnss1.waitPeriodMs = 100;
    resetArgsGnss0.gnss1 = false;
    resetArgsGnss0.gpioComIF = gpioComIF;
    resetArgsGnss0.waitPeriodMs = 100;
    auto gpsHandler0 = new GPSHyperionHandler(objects::GPS_CONTROLLER, objects::NO_OBJECT,
            debugGps);
    gpsHandler0->setResetPinTriggerFunction(gps::triggerGpioResetPin, &resetArgsGnss0);
}

void ObjectFactory::createHeaterComponents() {

    GpioCookie* heaterGpiosCookie = new GpioCookie;
    GpiodRegularByLineName* gpio = nullptr;

    std::stringstream consumer;
    consumer << "0x" << std::hex << objects::HEATER_HANDLER;
    /* Pin H2-11 on stack connector */
    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_0, consumer.str(), gpio::DIR_OUT,
            gpio::LOW);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpio);
    /* Pin H2-12 on stack connector */
    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_1, consumer.str(), gpio::DIR_OUT,
            gpio::LOW);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpio);

    /* Pin H2-13 on stack connector */
    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_2, consumer.str(), gpio::DIR_OUT,
            gpio::LOW);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpio);

    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_3, consumer.str(),
            gpio::DIR_OUT, gpio::LOW);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpio);

    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_4, consumer.str(),
                gpio::DIR_OUT, gpio::LOW);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpio);

    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_5, consumer.str(),
                gpio::DIR_OUT, gpio::LOW);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpio);

    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_6, consumer.str(),
                gpio::DIR_OUT, gpio::LOW);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpio);

    gpio = new GpiodRegularByLineName(q7s::gpioNames::HEATER_7, consumer.str(),
                gpio::DIR_OUT, gpio::LOW);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpio);

    new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
            objects::PCDU_HANDLER, pcduSwitches::TCS_BOARD_8V_HEATER_IN);
}

void ObjectFactory::createSolarArrayDeploymentComponents() {
    GpioCookie* solarArrayDeplCookie = new GpioCookie;
    GpiodRegularByLineName* gpio = nullptr;

    std::stringstream consumer;
    consumer << "0x" << std::hex << objects::SOLAR_ARRAY_DEPL_HANDLER;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_0,
            consumer.str(), gpio::DIR_OUT, gpio::LOW);
    solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpio);
    gpio = new GpiodRegularByLineName(q7s::gpioNames::SA_DPL_PIN_1, consumer.str(), gpio::DIR_OUT,
            gpio::LOW);
    solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpio);

    //TODO: Find out burn time. For now set to 1000 ms.
    new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
            solarArrayDeplCookie, objects::PCDU_HANDLER, pcduSwitches::DEPLOYMENT_MECHANISM,
            gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
}

void ObjectFactory::createSyrlinksComponents() {
    UartCookie* syrlinksUartCookie = new UartCookie(objects::SYRLINKS_HK_HANDLER,
            q7s::UART_SYRLINKS_DEV, UartModes::NON_CANONICAL, uart::SYRLINKS_BAUD,
            SYRLINKS::MAX_REPLY_SIZE);
    syrlinksUartCookie->setParityEven();

    new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER, objects::UART_COM_IF, syrlinksUartCookie);
}

void ObjectFactory::createRtdComponents(LinuxLibgpioIF *gpioComIF) {
    GpioCookie* rtdGpioCookie = new GpioCookie;

    GpioCallback* gpioRtdIc0 = new GpioCallback("Chip select RTD IC0", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC_3, gpioRtdIc0);
    GpioCallback* gpioRtdIc1 = new GpioCallback("Chip select RTD IC1", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC_4, gpioRtdIc1);
    GpioCallback* gpioRtdIc2 = new GpioCallback("Chip select RTD IC2", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC_5, gpioRtdIc2);
    GpioCallback* gpioRtdIc3 = new GpioCallback("Chip select RTD IC3", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC_6, gpioRtdIc3);
    GpioCallback* gpioRtdIc4 = new GpioCallback("Chip select RTD IC4", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC_7, gpioRtdIc4);
    GpioCallback* gpioRtdIc5 = new GpioCallback("Chip select RTD IC5", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC_8, gpioRtdIc5);
    GpioCallback* gpioRtdIc6 = new GpioCallback("Chip select RTD IC6", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC_9, gpioRtdIc6);
    GpioCallback* gpioRtdIc7 = new GpioCallback("Chip select RTD IC7", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC_10, gpioRtdIc7);
    GpioCallback* gpioRtdIc8 = new GpioCallback("Chip select RTD IC8", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC_11, gpioRtdIc8);
    GpioCallback* gpioRtdIc9 = new GpioCallback("Chip select RTD IC9", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC_12, gpioRtdIc9);
    GpioCallback* gpioRtdIc10 = new GpioCallback("Chip select RTD IC10", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC_13, gpioRtdIc10);
    GpioCallback* gpioRtdIc11 = new GpioCallback("Chip select RTD IC11", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC_14, gpioRtdIc11);
    GpioCallback* gpioRtdIc12 = new GpioCallback("Chip select RTD IC12", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC_15, gpioRtdIc12);
    GpioCallback* gpioRtdIc13 = new GpioCallback("Chip select RTD IC13", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC_16, gpioRtdIc13);
    GpioCallback* gpioRtdIc14 = new GpioCallback("Chip select RTD IC14", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC_17, gpioRtdIc14);
    GpioCallback* gpioRtdIc15 = new GpioCallback("Chip select RTD IC15", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC_18, gpioRtdIc15);

    gpioComIF->addGpios(rtdGpioCookie);

    SpiCookie* spiRtdIc0 = new SpiCookie(addresses::RTD_IC_3, gpioIds::RTD_IC_3, q7s::SPI_DEFAULT_DEV,
            Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
    SpiCookie* spiRtdIc1 = new SpiCookie(addresses::RTD_IC_4, gpioIds::RTD_IC_4, q7s::SPI_DEFAULT_DEV,
            Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
    SpiCookie* spiRtdIc2 = new SpiCookie(addresses::RTD_IC_5, gpioIds::RTD_IC_5, q7s::SPI_DEFAULT_DEV,
            Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
    SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC_6, gpioIds::RTD_IC_6, q7s::SPI_DEFAULT_DEV,
            Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
    SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC_7, gpioIds::RTD_IC_7, q7s::SPI_DEFAULT_DEV,
            Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
    SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC_8, gpioIds::RTD_IC_8, q7s::SPI_DEFAULT_DEV,
            Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
    SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC_9, gpioIds::RTD_IC_9, q7s::SPI_DEFAULT_DEV,
            Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
    SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC_10, gpioIds::RTD_IC_10,
            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
            spi::RTD_SPEED);
    SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC_11, gpioIds::RTD_IC_11,
            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
            spi::RTD_SPEED);
    SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC_12, gpioIds::RTD_IC_12,
            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
            spi::RTD_SPEED);
    SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC_13, gpioIds::RTD_IC_13,
            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
            spi::RTD_SPEED);
    SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC_14, gpioIds::RTD_IC_14,
            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
            spi::RTD_SPEED);
    SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC_15, gpioIds::RTD_IC_15,
            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
            spi::RTD_SPEED);
    SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC_16, gpioIds::RTD_IC_16,
            std::string(q7s::SPI_DEFAULT_DEV), Max31865Definitions::MAX_REPLY_SIZE,
            spi::RTD_MODE, spi::RTD_SPEED);
    SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC_17, gpioIds::RTD_IC_17,
            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
            spi::RTD_SPEED);
    SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC_18, gpioIds::RTD_IC_18,
            q7s::SPI_DEFAULT_DEV, Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE,
            spi::RTD_SPEED);

    Max31865PT1000Handler* rtdIc0 = new Max31865PT1000Handler(objects::RTD_IC_3, objects::SPI_COM_IF,
            spiRtdIc0);
    Max31865PT1000Handler* rtdIc1 = new Max31865PT1000Handler(objects::RTD_IC_4, objects::SPI_COM_IF,
            spiRtdIc1);
    Max31865PT1000Handler* rtdIc2 = new Max31865PT1000Handler(objects::RTD_IC_5, objects::SPI_COM_IF,
            spiRtdIc2);
    Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC_6, objects::SPI_COM_IF,
            spiRtdIc3);
    Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC_7, objects::SPI_COM_IF,
            spiRtdIc4);
    Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC_8, objects::SPI_COM_IF,
            spiRtdIc5);
    Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC_9, objects::SPI_COM_IF,
            spiRtdIc6);
    Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC_10,
            objects::SPI_COM_IF, spiRtdIc7);
    Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC_11,
            objects::SPI_COM_IF, spiRtdIc8);
    Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC_12,
            objects::SPI_COM_IF, spiRtdIc9);
    Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC_13,
            objects::SPI_COM_IF, spiRtdIc10);
    Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC_14,
            objects::SPI_COM_IF, spiRtdIc11);
    Max31865PT1000Handler* rtdIc12 = new Max31865PT1000Handler(objects::RTD_IC_15,
            objects::SPI_COM_IF, spiRtdIc12);
    Max31865PT1000Handler* rtdIc13 = new Max31865PT1000Handler(objects::RTD_IC_16,
            objects::SPI_COM_IF, spiRtdIc13);
    Max31865PT1000Handler* rtdIc14 = new Max31865PT1000Handler(objects::RTD_IC_17,
            objects::SPI_COM_IF, spiRtdIc14);
    Max31865PT1000Handler* rtdIc15 = new Max31865PT1000Handler(objects::RTD_IC_18,
            objects::SPI_COM_IF, spiRtdIc15);

    rtdIc0->setStartUpImmediately();
    rtdIc1->setStartUpImmediately();
    rtdIc2->setStartUpImmediately();
#if OBSW_DEBUG_RTD == 1
    rtdIc0->setInstantNormal(true);
    rtdIc1->setInstantNormal(true);
    rtdIc2->setInstantNormal(true);
#endif

    static_cast<void>(rtdIc0);
    static_cast<void>(rtdIc1);
    static_cast<void>(rtdIc2);
    static_cast<void>(rtdIc3);
    static_cast<void>(rtdIc4);
    static_cast<void>(rtdIc5);
    static_cast<void>(rtdIc6);
    static_cast<void>(rtdIc7);
    static_cast<void>(rtdIc8);
    static_cast<void>(rtdIc9);
    static_cast<void>(rtdIc10);
    static_cast<void>(rtdIc11);
    static_cast<void>(rtdIc12);
    static_cast<void>(rtdIc13);
    static_cast<void>(rtdIc14);
    static_cast<void>(rtdIc15);
}

void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF) {
    GpioCookie* gpioCookieRw = new GpioCookie;
    GpioCallback* csRw1 = new GpioCallback("Chip select reaction wheel 1", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieRw->addGpio(gpioIds::CS_RW1, csRw1);
    GpioCallback* csRw2 = new GpioCallback("Chip select reaction wheel 2", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieRw->addGpio(gpioIds::CS_RW2, csRw2);
    GpioCallback* csRw3 = new GpioCallback("Chip select reaction wheel 3", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieRw->addGpio(gpioIds::CS_RW3, csRw3);
    GpioCallback* csRw4 = new GpioCallback("Chip select reaction wheel 4", gpio::DIR_OUT, gpio::HIGH,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieRw->addGpio(gpioIds::CS_RW4, csRw4);

    std::stringstream consumer;
    GpiodRegularByLineName* gpio = nullptr;
    consumer << "0x" << std::hex << objects::RW1;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_1, consumer.str(), gpio::DIR_OUT,
            gpio::LOW);
    gpioCookieRw->addGpio(gpioIds::EN_RW1, gpio);
    consumer.str("");
    consumer << "0x" << std::hex << objects::RW2;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_2, consumer.str(), gpio::DIR_OUT,
            gpio::LOW);
    gpioCookieRw->addGpio(gpioIds::EN_RW2, gpio);
    consumer.str("");
    consumer << "0x" << std::hex << objects::RW3;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_3, consumer.str(), gpio::DIR_OUT,
            gpio::LOW);
    gpioCookieRw->addGpio(gpioIds::EN_RW3, gpio);
    consumer.str("");
    consumer << "0x" << std::hex << objects::RW4;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::EN_RW_4, consumer.str(), gpio::DIR_OUT,
            gpio::LOW);
    gpioCookieRw->addGpio(gpioIds::EN_RW4, gpio);

    gpioComIF->addGpios(gpioCookieRw);

    auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV,
            RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
            nullptr);
    auto rw2SpiCookie = new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV,
            RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
            nullptr);
    auto rw3SpiCookie = new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV,
            RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
            nullptr);
    auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV,
            RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback,
            nullptr);

    auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
            gpioIds::EN_RW1);
#if OBSW_DEBUG_RW == 1
    rwHandler1->setStartUpImmediately();
#endif
    rw1SpiCookie->setCallbackArgs(rwHandler1);
    rwHandler1->setStartUpImmediately();

    auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
            gpioIds::EN_RW2);
#if OBSW_DEBUG_RW == 1
    rwHandler2->setStartUpImmediately();
#endif
    rw2SpiCookie->setCallbackArgs(rwHandler2);

    auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
            gpioIds::EN_RW3);
#if OBSW_DEBUG_RW == 1
    rwHandler3->setStartUpImmediately();
#endif
    rw3SpiCookie->setCallbackArgs(rwHandler3);

    auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
            gpioIds::EN_RW4);
#if OBSW_DEBUG_RW == 1
    rwHandler4->setStartUpImmediately();
#endif
    rw4SpiCookie->setCallbackArgs(rwHandler4);
}

void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF *gpioComIF) {
    // GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
    GpioCookie* gpioCookiePtmeIp = new GpioCookie;
    GpiodRegularByLineName* gpio = nullptr;
    std::stringstream consumer;
    consumer << "0x" << std::hex << objects::PAPB_VC0;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
    gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
    consumer.str("");
    consumer << "0x" << std::hex << objects::PAPB_VC0;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
    gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
    consumer.str("");
    consumer << "0x" << std::hex << objects::PAPB_VC1;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
    gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
    consumer.str("");
    consumer << "0x" << std::hex << objects::PAPB_VC1;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC1, consumer.str());
    gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
    consumer.str("");
    consumer << "0x" << std::hex << objects::PAPB_VC2;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
    gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
    consumer.str("");
    consumer << "0x" << std::hex << objects::PAPB_VC2;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
    gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
    consumer.str("");
    consumer << "0x" << std::hex << objects::PAPB_VC3;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
    gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
    consumer.str("");
    consumer << "0x" << std::hex << objects::PAPB_VC3;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
    gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);

    gpioComIF->addGpios(gpioCookiePtmeIp);

    // Creating virtual channel interfaces
    VcInterfaceIF* vc0 = new PapbVcInterface(objects::PAPB_VC0, gpioComIF, gpioIds::VC0_PAPB_BUSY,
            gpioIds::VC0_PAPB_EMPTY, PtmeConfig::VC0_OFFSETT);
    VcInterfaceIF* vc1 = new PapbVcInterface(objects::PAPB_VC1, gpioComIF, gpioIds::VC1_PAPB_BUSY,
            gpioIds::VC1_PAPB_EMPTY, PtmeConfig::VC1_OFFSETT);
    VcInterfaceIF* vc2 = new PapbVcInterface(objects::PAPB_VC2, gpioComIF, gpioIds::VC2_PAPB_BUSY,
            gpioIds::VC2_PAPB_EMPTY, PtmeConfig::VC2_OFFSETT);
    VcInterfaceIF* vc3 = new PapbVcInterface(objects::PAPB_VC3, gpioComIF, gpioIds::VC3_PAPB_BUSY,
            gpioIds::VC3_PAPB_EMPTY, PtmeConfig::VC3_OFFSETT);

    // Creating ptme object and adding virtual channel interfaces
    Ptme* ptme = new Ptme(objects::PTME);
    ptme->addVcInterface(ccsds::VC0, vc0);
    ptme->addVcInterface(ccsds::VC1, vc1);
    ptme->addVcInterface(ccsds::VC2, vc2);
    ptme->addVcInterface(ccsds::VC3, vc3);

    GpioCookie* gpioCookieRateSetter = new GpioCookie;
    consumer.str("");
    consumer << "ptme rate setter";
    // Init to low -> default bit rate is low bit rate (200 kbps in downlink with syrlinks)
    gpio = new GpiodRegularByLineName(q7s::gpioNames::BIT_RATE_SEL, consumer.str(), gpio::DIR_OUT,
            gpio::LOW);
    gpioCookieRateSetter->addGpio(gpioIds::BIT_RATE_SEL, gpio);
    gpioComIF->addGpios(gpioCookieRateSetter);

    TxRateSetterIF* txRateSetterIF = new PtmeRateSetter(gpioIds::BIT_RATE_SEL, gpioComIF);

    CCSDSHandler* ccsdsHandler = new CCSDSHandler(objects::CCSDS_HANDLER, objects::PTME,
            objects::CCSDS_PACKET_DISTRIBUTOR, txRateSetterIF, gpioComIF,
            gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA);

    VirtualChannel* vc = nullptr;
    vc = new VirtualChannel(ccsds::VC0, common::VC0_QUEUE_SIZE);
    ccsdsHandler->addVirtualChannel(ccsds::VC0, vc);
    vc = new VirtualChannel(ccsds::VC1, common::VC1_QUEUE_SIZE);
    ccsdsHandler->addVirtualChannel(ccsds::VC1, vc);
    vc = new VirtualChannel(ccsds::VC2, common::VC2_QUEUE_SIZE);
    ccsdsHandler->addVirtualChannel(ccsds::VC2, vc);
    vc = new VirtualChannel(ccsds::VC3, common::VC3_QUEUE_SIZE);
    ccsdsHandler->addVirtualChannel(ccsds::VC3, vc);

    GpioCookie* gpioCookiePdec = new GpioCookie;
    consumer.str("");
    consumer << "0x" << std::hex << objects::PDEC_HANDLER;
    // GPIO also low after linux boot (specified by device-tree)
    gpio = new GpiodRegularByLineName(q7s::gpioNames::PDEC_RESET, consumer.str(), gpio::DIR_OUT,
            gpio::LOW);
    gpioCookiePdec->addGpio(gpioIds::PDEC_RESET, gpio);

    gpioComIF->addGpios(gpioCookiePdec);

    new PdecHandler(objects::PDEC_HANDLER, objects::CCSDS_HANDLER, gpioComIF, gpioIds::PDEC_RESET,
            std::string(q7s::UIO_PDEC_CONFIG_MEMORY), std::string(q7s::UIO_PDEC_RAM),
            std::string(q7s::UIO_PDEC_REGISTERS));

#if BOARD_TE0720 == 0
    GpioCookie* gpioRS485Chip = new GpioCookie;
    gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_CLOCK, "RS485 Transceiver",
            gpio::Direction::DIR_OUT, gpio::LOW);
    gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_CLOCK, gpio);
    gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_TX_DATA, "RS485 Transceiver",
            gpio::Direction::DIR_OUT, gpio::LOW);
    gpioRS485Chip->addGpio(gpioIds::RS485_EN_TX_DATA, gpio);

    // Default configuration enables RX channels (RXEN = LOW)
    gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_CLOCK, "RS485 Transceiver",
            gpio::Direction::DIR_OUT, gpio::LOW);
    gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_CLOCK, gpio);
    gpio = new GpiodRegularByLineName(q7s::gpioNames::RS485_EN_RX_DATA, "RS485 Transceiver",
            gpio::Direction::DIR_OUT, gpio::LOW);
    gpioRS485Chip->addGpio(gpioIds::RS485_EN_RX_DATA, gpio);

    gpioComIF->addGpios(gpioRS485Chip);
#endif /* BOARD_TE0720 == 0 */
}

void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {

#if BOARD_TE0720 == 0
    new Q7STestTask(objects::TEST_TASK);
#endif

#if BOARD_TE0720 == 1 && OBSW_TEST_LIBGPIOD == 1
#if OBSW_TEST_GPIO_OPEN_BYLABEL == 1
    /* Configure MIO0 as input */
    GpiodRegular* testGpio = new GpiodRegular("MIO0", gpio::DIR_OUT, 0, "/amba_pl/gpio@41200000", 0);
#elif OBSW_TEST_GPIO_OPEN_BY_LINE_NAME
    GpiodRegularByLineName* testGpio = new GpiodRegularByLineName("test-name", "gpio-test",
            gpio::DIR_OUT, 0);
#else
    /* Configure MIO0 as input */
    GpiodRegular* testGpio = new GpiodRegular("gpiochip0", 0, "MIO0", gpio::IN, 0);
#endif /* OBSW_TEST_GPIO_LABEL == 1 */
    GpioCookie* gpioCookie = new GpioCookie;
    gpioCookie->addGpio(gpioIds::TEST_ID_0, testGpio);
    new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
#endif

#if BOARD_TE0720 == 1 && OBSW_TEST_SUS_HANDLER == 1
    GpioCookie* gpioCookieSus = new GpioCookie;
    GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip1"), 9,
            std::string("Chip Select Sus Sensor"), gpio::DIR_OUT, 1);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_1, chipSelectSus);
    gpioComIF->addGpios(gpioCookieSus);

    SpiCookie* spiCookieSus = new SpiCookie(addresses::SUS_1, std::string("/dev/spidev1.0"),
            SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);

    new SusHandler(objects::SUS_1, objects::SPI_COM_IF, spiCookieSus, gpioComIF,
            gpioIds::CS_SUS_1);
#endif

#if BOARD_TE0720 == 1 && OBSW_TEST_CCSDS_BRIDGE == 1
    GpioCookie* gpioCookieCcsdsIp = new GpioCookie;
    GpiodRegular* papbBusyN = new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_VC0"));
    gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN);
    GpiodRegular* papbEmpty = new GpiodRegular(std::string("gpiochip0"), 1,
            std::string("PAPBEmpty_VC0"));
    gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_EMPTY, papbEmpty);
    gpioComIF->addGpios(gpioCookieCcsdsIp);

    new CCSDSIPCoreBridge(objects::CCSDS_IP_CORE_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR,
            objects::TM_STORE, objects::TC_STORE, gpioComIF, std::string("/dev/uio0"),
            gpioIds::PAPB_BUSY_N, gpioIds::PAPB_EMPTY);
#endif

#if BOARD_TE0720 == 1 && OBSW_TEST_RADIATION_SENSOR_HANDLER == 1
    GpioCookie* gpioCookieRadSensor = new GpioCookie;
    GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip1"), 0,
            std::string("Chip select radiation sensor"), gpio::DIR_OUT, 1);
    gpioCookieRadSensor->addGpio(gpioIds::CS_RAD_SENSOR, chipSelectRadSensor);
    gpioComIF->addGpios(gpioCookieRadSensor);

    SpiCookie* spiCookieRadSensor = new SpiCookie(addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR,
            std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE, spi::DEFAULT_MAX_1227_MODE,
            spi::DEFAULT_MAX_1227_SPEED);

    RadiationSensorHandler* radSensor = new RadiationSensorHandler(objects::RAD_SENSOR,
            objects::SPI_COM_IF, spiCookieRadSensor);
    radSensor->setStartUpImmediately();
#endif

#if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_MPSOC == 1
    UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyPS1"), 115200,
            PLOC_MPSOC::MAX_REPLY_SIZE);
    /* Testing PlocMPSoCHandler on TE0720-03-1CFA */
    PlocMPSoCHandler* mpsocPlocHandler = new PlocMPSoCHandler(objects::PLOC_MPSOC_HANDLER, objects::UART_COM_IF,
            plocUartCookie);
    mpsocPlocHandler->setStartUpImmediately();
#endif

#if BOARD_TE0720 == 1 && OBSW_TEST_TE7020_HEATER == 1
    /* Configuration for MIO0 on TE0720-03-1CFA */
    GpiodRegular* heaterGpio = new GpiodRegular(std::string("gpiochip0"), 0, std::string("MIO0"), gpio::IN, 0);
    GpioCookie* gpioCookie = new GpioCookie;
    gpioCookie->addGpio(gpioIds::HEATER_0, heaterGpio);
    new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, gpioCookie, objects::PCDU_HANDLER,
            pcduSwitches::TCS_BOARD_8V_HEATER_IN);
#endif

#if BOARD_TE0720 == 1 && OBSW_ADD_PLOC_SUPERVISOR == 1
    /* Configuration for MIO0 on TE0720-03-1CFA */
    UartCookie* plocSupervisorCookie = new UartCookie(objects::PLOC_SUPERVISOR_HANDLER,
            std::string("/dev/ttyPS1"), UartModes::NON_CANONICAL, 115200,
            PLOC_SPV::MAX_PACKET_SIZE * 20);
    plocSupervisorCookie->setNoFixedSizeReply();
    PlocSupervisorHandler* plocSupervisor = new PlocSupervisorHandler(
            objects::PLOC_SUPERVISOR_HANDLER, objects::UART_COM_IF, plocSupervisorCookie);
    plocSupervisor->setStartUpImmediately();
#endif

#if OBSW_ADD_SPI_TEST_CODE == 1
    new SpiTestClass(objects::SPI_TEST, gpioComIF);
#endif

}