eive-obsw/bsp_q7s/ObjectFactory.cpp

#include "ObjectFactory.h"
#include "OBSWConfig.h"
#include "tmtc/apid.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "tmtc/pusIds.h"
#include "devices/powerSwitcherList.h"
#include "spiConf.h"

#include "bsp_q7s/gpio/gpioCallbacks.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/spiCallbacks/rwSpiCallback.h"

#include <linux/devices/HeaterHandler.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/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/IMTQHandler.h>
#include <mission/devices/SyrlinksHkHandler.h>
#include <mission/devices/MGMHandlerLIS3MDL.h>
#include <mission/devices/MGMHandlerRM3100.h>
#include <mission/devices/PlocHandler.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/PlocDefinitions.h>
#include <mission/devices/devicedefinitions/RadSensorDefinitions.h>
#include <mission/devices/devicedefinitions/Max31865Definitions.h>
#include <mission/devices/devicedefinitions/RwDefinitions.h>
#include <mission/utility/TmFunnel.h>
#include <mission/obc/CCSDSIPCoreBridge.h>

#include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw_hal/linux/uart/UartCookie.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.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>

/* UDP server includes */
#include <fsfw/osal/common/UdpTmTcBridge.h>
#include <fsfw/osal/common/UdpTcPollingTask.h>
#include <linux/boardtest/SpiTestClass.h>

#if TEST_LIBGPIOD == 1
#include <linux/boardtest/LibgpiodTest.h>
#endif

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;

    TmFunnel::downlinkDestination = objects::UDP_BRIDGE;
    // 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){
    Factory::setStaticFrameworkObjectIds();
    ObjectFactory::produceGenericObjects();
    LinuxLibgpioIF* gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);

    /* Communication interfaces */
    new CspComIF(objects::CSP_COM_IF);
    new I2cComIF(objects::I2C_COM_IF);
    new UartComIF(objects::UART_COM_IF);
#if Q7S_ADD_SPI_TEST == 0
    new SpiComIF(objects::SPI_COM_IF, gpioComIF);
#endif /* Q7S_ADD_SPI_TEST == 0 */

    new CoreController(objects::CORE_CONTROLLER);

#if 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, std::string("/dev/i2c-1"));
    I2cCookie* i2cCookieTmp1075tcs2 = new I2cCookie(addresses::TMP1075_TCS_2,
            TMP1075::MAX_REPLY_LENGTH, std::string("/dev/i2c-1"));
#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;

#if TE0720 == 0
    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.
     */
    /** For now this needs to be commented out because there is no PCDU connected to the OBC */
//    p60dockhandler->setModeNormal();
//    pdu1handler->setModeNormal();
//    pdu2handler->setModeNormal();
//    acuhandler->setModeNormal();
    (void) p60dockhandler;
    (void) pdu1handler;
    (void) pdu2handler;
    (void) acuhandler;

    /* Adding gpios for chip select decoding to the gpioComIf */
    gpioCallbacks::initSpiCsDecoder(gpioComIF);

    GpioCookie* gpioCookieRadSensor = new GpioCookie;
    GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip5"), 19,
            std::string("Chip Select Radiation Sensor"), gpio::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/spidev2.0"), RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE,
            spi::DEFAULT_MAX_1227_SPEED);
    new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF, spiCookieRadSensor);
    GpioCookie* gpioCookieSus = new GpioCookie();

    GpioCallback* susgpio = new GpioCallback(std::string("Chip select SUS 1"), gpio::OUT, 1,
           &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_1, susgpio);
    susgpio = new GpioCallback(std::string("Chip select SUS 2"), gpio::OUT, 1,
           &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_2, susgpio);
    susgpio = new GpioCallback(std::string("Chip select SUS 3"), gpio::OUT, 1,
           &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_3, susgpio);
    susgpio = new GpioCallback(std::string("Chip select SUS 4"), gpio::OUT, 1,
           &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_4, susgpio);
    susgpio = new GpioCallback(std::string("Chip select SUS 5"), gpio::OUT, 1,
           &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_5, susgpio);
    susgpio = new GpioCallback(std::string("Chip select SUS 6"), gpio::OUT, 1,
           &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_6, susgpio);
    susgpio = new GpioCallback(std::string("Chip select SUS 7"), gpio::OUT, 1,
           &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_7, susgpio);
    susgpio = new GpioCallback(std::string("Chip select SUS 8"), gpio::OUT, 1,
           &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_8, susgpio);
    susgpio = new GpioCallback(std::string("Chip select SUS 9"), gpio::OUT, 1,
           &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_9, susgpio);
    susgpio = new GpioCallback(std::string("Chip select SUS 10"), gpio::OUT, 1,
           &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_10, susgpio);
    susgpio = new GpioCallback(std::string("Chip select SUS 11"), gpio::OUT, 1,
           &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_11, susgpio);
    susgpio = new GpioCallback(std::string("Chip select SUS 12"), gpio::OUT, 1,
           &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieSus->addGpio(gpioIds::CS_SUS_12, susgpio);
    susgpio = new GpioCallback(std::string("Chip select SUS 13"), gpio::OUT, 1,
           &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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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("/dev/spidev2.0"), 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);

#if OBSW_ADD_ACS_BOARD == 1
    GpioCookie* gpioCookieAcsBoard = new GpioCookie();
    GpiodRegular* gpio = nullptr;
    gpio = new GpiodRegular(std::string("gpiochip5"), 1, std::string("CS_GYRO_0_ADIS"),
            gpio::OUT, gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_0_ADIS_CS, gpio);
    gpio = new GpiodRegular(std::string("gpiochip5"), 7, std::string("CS_GYRO_1_L3G"),
            gpio::OUT, gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_1_L3G_CS, gpio);
    gpio = new GpiodRegular(std::string("gpiochip5"), 3, std::string("CS_GYRO_2_L3G"),
            gpio::OUT, gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::GYRO_2_L3G_CS, gpio);

    gpio = new GpiodRegular(std::string("gpiochip5"), 5, std::string("CS_MGM_0_LIS3_A"),
            gpio::OUT, gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::MGM_0_LIS3_CS, gpio);

    gpio = new GpiodRegular(std::string("gpiochip5"), 16, std::string("CS_MGM_1_RM3100_A"),
            gpio::OUT, gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::MGM_1_RM3100_CS, gpio);

    gpio = new GpiodRegular(std::string("gpiochip6"), 0, std::string("CS_MGM_2_LIS3_B"),
            gpio::OUT, gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::MGM_2_LIS3_CS, gpio);

    gpio = new GpiodRegular(std::string("gpiochip5"), 10, std::string("CS_MGM_3_RM3100_B"),
            gpio::OUT, gpio::HIGH);
    gpioCookieAcsBoard->addGpio(gpioIds::MGM_3_RM3100_CS, gpio);

    gpioComIF->addGpios(gpioCookieAcsBoard);

    std::string spiDev = "/dev/spidev2.0";
    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 MGMHandlerLIS3MDL(objects::MGM_0_LIS3_HANDLER,
            objects::SPI_COM_IF, spiCookie);
    mgmLis3Handler->setStartUpImmediately();

    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 MGMHandlerLIS3MDL(objects::MGM_2_LIS3_HANDLER,
            objects::SPI_COM_IF, spiCookie);
    mgmLis3Handler2->setStartUpImmediately();

    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 MGMHandlerRM3100(objects::MGM_1_RM3100_HANDLER,
            objects::SPI_COM_IF, spiCookie);
    mgmRm3100Handler->setStartUpImmediately();

    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 MGMHandlerRM3100(objects::MGM_3_RM3100_HANDLER,
            objects::SPI_COM_IF, spiCookie);
    mgmRm3100Handler->setStartUpImmediately();

    //TODO: Adis Gyro (Gyro 0 Side A)

    /* 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);
    gyroL3gHandler->setStartUpImmediately();

    /* Gyro 2 Side B */
    spiCookie = new SpiCookie(addresses::GYRO_2_L3G, gpioIds::GYRO_2_L3G_CS, spiDev,
            L3GD20H::MAX_BUFFER_SIZE, spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
    gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_2_L3G_HANDLER, objects::SPI_COM_IF,
            spiCookie);
    gyroL3gHandler->setStartUpImmediately();
#endif

    GpioCookie* heaterGpiosCookie = new GpioCookie;

    /* Pin H2-11 on stack connector */
    GpiodRegular* gpioConfigHeater0 = new GpiodRegular(std::string("gpiochip7"), 6,
            std::string("Heater0"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_0, gpioConfigHeater0);

    /* Pin H2-12 on stack connector */
    GpiodRegular* gpioConfigHeater1 = new GpiodRegular(std::string("gpiochip7"), 12,
            std::string("Heater1"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_1, gpioConfigHeater1);

    /* Pin H2-13 on stack connector */
    GpiodRegular* gpioConfigHeater2 = new GpiodRegular(std::string("gpiochip7"), 7,
            std::string("Heater2"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_2, gpioConfigHeater2);

    GpiodRegular* gpioConfigHeater3 = new GpiodRegular(std::string("gpiochip7"), 5,
            std::string("Heater3"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_3, gpioConfigHeater3);

    GpiodRegular* gpioConfigHeater4 = new GpiodRegular(std::string("gpiochip7"), 3,
            std::string("Heater4"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_4, gpioConfigHeater4);

    GpiodRegular* gpioConfigHeater5 = new GpiodRegular(std::string("gpiochip7"), 0,
            std::string("Heater5"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_5, gpioConfigHeater5);

    GpiodRegular* gpioConfigHeater6 = new GpiodRegular(std::string("gpiochip7"), 1,
            std::string("Heater6"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_6, gpioConfigHeater6);

    GpiodRegular* gpioConfigHeater7 = new GpiodRegular(std::string("gpiochip7"), 11,
            std::string("Heater7"), gpio::OUT, 0);
    heaterGpiosCookie->addGpio(gpioIds::HEATER_7, gpioConfigHeater7);

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

    GpioCookie* solarArrayDeplCookie = new GpioCookie;

    GpiodRegular* gpioConfigDeplSA0 = new GpiodRegular(std::string("gpiochip7"), 4,
                std::string("DeplSA1"), gpio::OUT, 0);
    solarArrayDeplCookie->addGpio(gpioIds::DEPLSA1, gpioConfigDeplSA0);
    GpiodRegular* gpioConfigDeplSA1 = new GpiodRegular(std::string("gpiochip7"), 2,
                std::string("DeplSA2"), gpio::OUT, 0);
    solarArrayDeplCookie->addGpio(gpioIds::DEPLSA2, gpioConfigDeplSA1);

    //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);

    UartCookie* syrlinksUartCookie = new UartCookie(objects::SYRLINKS_HK_HANDLER,
            std::string("/dev/ttyUL0"), UartModes::NON_CANONICAL, 38400, SYRLINKS::MAX_REPLY_SIZE);
    syrlinksUartCookie->setParityEven();

    SyrlinksHkHandler* syrlinksHkHandler = new SyrlinksHkHandler(objects::SYRLINKS_HK_HANDLER,
            objects::UART_COM_IF, syrlinksUartCookie);
    syrlinksHkHandler->setModeNormal();

#if Q7S_ADD_RTD_DEVICES == 1
    GpioCookie* rtdGpioCookie = new GpioCookie;

    GpioCallback* gpioRtdIc3 = new GpioCallback(std::string("Chip select RTD IC3"), gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC3, gpioRtdIc3);
    GpioCallback* gpioRtdIc4 = new GpioCallback(std::string("Chip select RTD IC4"), gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC4, gpioRtdIc4);
    GpioCallback* gpioRtdIc5 = new GpioCallback(std::string("Chip select RTD IC5"), gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC5, gpioRtdIc5);
    GpioCallback* gpioRtdIc6 = new GpioCallback(std::string("Chip select RTD IC6"), gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC6, gpioRtdIc6);
    GpioCallback* gpioRtdIc7 = new GpioCallback(std::string("Chip select RTD IC7"), gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC7, gpioRtdIc7);
    GpioCallback* gpioRtdIc8 = new GpioCallback(std::string("Chip select RTD IC8"), gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC8, gpioRtdIc8);
    GpioCallback* gpioRtdIc9 = new GpioCallback(std::string("Chip select RTD IC9"), gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC9, gpioRtdIc9);
    GpioCallback* gpioRtdIc10 = new GpioCallback(std::string("Chip select RTD IC10"), gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC10, gpioRtdIc10);
    GpioCallback* gpioRtdIc11 = new GpioCallback(std::string("Chip select RTD IC11"), gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC11, gpioRtdIc11);
    GpioCallback* gpioRtdIc12 = new GpioCallback(std::string("Chip select RTD IC12"), gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC12, gpioRtdIc12);
    GpioCallback* gpioRtdIc13 = new GpioCallback(std::string("Chip select RTD IC13"), gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC13, gpioRtdIc13);
    GpioCallback* gpioRtdIc14 = new GpioCallback(std::string("Chip select RTD IC14"), gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC14, gpioRtdIc14);
    GpioCallback* gpioRtdIc15 = new GpioCallback(std::string("Chip select RTD IC15"), gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC15, gpioRtdIc15);
    GpioCallback* gpioRtdIc16 = new GpioCallback(std::string("Chip select RTD IC16"), gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC16, gpioRtdIc16);
    GpioCallback* gpioRtdIc17 = new GpioCallback(std::string("Chip select RTD IC17"), gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC17, gpioRtdIc17);
    GpioCallback* gpioRtdIc18 = new GpioCallback(std::string("Chip select RTD IC18"), gpio::OUT, 1,
            &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    rtdGpioCookie->addGpio(gpioIds::RTD_IC18, gpioRtdIc18);

    gpioComIF->addGpios(rtdGpioCookie);

    SpiCookie* spiRtdIc3 = new SpiCookie(addresses::RTD_IC3, gpioIds::RTD_IC3,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiModes::MODE_3, 2000000);
    SpiCookie* spiRtdIc4 = new SpiCookie(addresses::RTD_IC4, gpioIds::RTD_IC4,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiModes::MODE_1, 2000000);
    SpiCookie* spiRtdIc5 = new SpiCookie(addresses::RTD_IC5, gpioIds::RTD_IC5,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiModes::MODE_1, 2000000);
    SpiCookie* spiRtdIc6 = new SpiCookie(addresses::RTD_IC6, gpioIds::RTD_IC6,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiModes::MODE_1, 2000000);
    SpiCookie* spiRtdIc7 = new SpiCookie(addresses::RTD_IC7, gpioIds::RTD_IC7,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiModes::MODE_1, 2000000);
    SpiCookie* spiRtdIc8 = new SpiCookie(addresses::RTD_IC8, gpioIds::RTD_IC8,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiModes::MODE_1, 2000000);
    SpiCookie* spiRtdIc9 = new SpiCookie(addresses::RTD_IC9, gpioIds::RTD_IC9,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiModes::MODE_1, 2000000);
    SpiCookie* spiRtdIc10 = new SpiCookie(addresses::RTD_IC10, gpioIds::RTD_IC10,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiModes::MODE_1, 2000000);
    SpiCookie* spiRtdIc11 = new SpiCookie(addresses::RTD_IC11, gpioIds::RTD_IC11,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiModes::MODE_1, 2000000);
    SpiCookie* spiRtdIc12 = new SpiCookie(addresses::RTD_IC12, gpioIds::RTD_IC12,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiModes::MODE_1, 2000000);
    SpiCookie* spiRtdIc13 = new SpiCookie(addresses::RTD_IC13, gpioIds::RTD_IC13,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiModes::MODE_1, 2000000);
    SpiCookie* spiRtdIc14 = new SpiCookie(addresses::RTD_IC14, gpioIds::RTD_IC14,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiModes::MODE_1, 2000000);
    SpiCookie* spiRtdIc15 = new SpiCookie(addresses::RTD_IC15, gpioIds::RTD_IC15,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiModes::MODE_1, 3900000);
    SpiCookie* spiRtdIc16 = new SpiCookie(addresses::RTD_IC16, gpioIds::RTD_IC16,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiModes::MODE_1, 2000000);
    SpiCookie* spiRtdIc17 = new SpiCookie(addresses::RTD_IC17, gpioIds::RTD_IC17,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiModes::MODE_1, 2000000);
    SpiCookie* spiRtdIc18 = new SpiCookie(addresses::RTD_IC18, gpioIds::RTD_IC18,
            std::string("/dev/spidev2.0"), Max31865Definitions::MAX_REPLY_SIZE,
            spi::SpiModes::MODE_1, 2000000);

    Max31865PT1000Handler* rtdIc3 = new Max31865PT1000Handler(objects::RTD_IC3, objects::SPI_COM_IF, spiRtdIc3, 0); // 0 is switchId
    Max31865PT1000Handler* rtdIc4 = new Max31865PT1000Handler(objects::RTD_IC4, objects::SPI_COM_IF, spiRtdIc4, 0);
    Max31865PT1000Handler* rtdIc5 = new Max31865PT1000Handler(objects::RTD_IC5, objects::SPI_COM_IF, spiRtdIc5, 0);
    Max31865PT1000Handler* rtdIc6 = new Max31865PT1000Handler(objects::RTD_IC6, objects::SPI_COM_IF, spiRtdIc6, 0);
    Max31865PT1000Handler* rtdIc7 = new Max31865PT1000Handler(objects::RTD_IC7, objects::SPI_COM_IF, spiRtdIc7, 0);
    Max31865PT1000Handler* rtdIc8 = new Max31865PT1000Handler(objects::RTD_IC8, objects::SPI_COM_IF, spiRtdIc8, 0);
    Max31865PT1000Handler* rtdIc9 = new Max31865PT1000Handler(objects::RTD_IC9, objects::SPI_COM_IF, spiRtdIc9, 0);
    Max31865PT1000Handler* rtdIc10 = new Max31865PT1000Handler(objects::RTD_IC10, objects::SPI_COM_IF, spiRtdIc10, 0);
    Max31865PT1000Handler* rtdIc11 = new Max31865PT1000Handler(objects::RTD_IC11, objects::SPI_COM_IF, spiRtdIc11, 0);
    Max31865PT1000Handler* rtdIc12 = new Max31865PT1000Handler(objects::RTD_IC12, objects::SPI_COM_IF, spiRtdIc12, 0);
    Max31865PT1000Handler* rtdIc13 = new Max31865PT1000Handler(objects::RTD_IC13, objects::SPI_COM_IF, spiRtdIc13, 0);
    Max31865PT1000Handler* rtdIc14 = new Max31865PT1000Handler(objects::RTD_IC14, objects::SPI_COM_IF, spiRtdIc14, 0);
    Max31865PT1000Handler* rtdIc15 = new Max31865PT1000Handler(objects::RTD_IC15, objects::SPI_COM_IF, spiRtdIc15, 0);
    Max31865PT1000Handler* rtdIc16 = new Max31865PT1000Handler(objects::RTD_IC16, objects::SPI_COM_IF, spiRtdIc16, 0);
    Max31865PT1000Handler* rtdIc17 = new Max31865PT1000Handler(objects::RTD_IC17, objects::SPI_COM_IF, spiRtdIc17, 0);
    Max31865PT1000Handler* rtdIc18 = new Max31865PT1000Handler(objects::RTD_IC18, objects::SPI_COM_IF, spiRtdIc18, 0);
    rtdIc17->setStartUpImmediately();
//    rtdIc4->setStartUpImmediately();

    (void) rtdIc3;
    (void) rtdIc4;
    (void) rtdIc5;
    (void) rtdIc6;
    (void) rtdIc7;
    (void) rtdIc8;
    (void) rtdIc9;
    (void) rtdIc10;
    (void) rtdIc11;
    (void) rtdIc12;
    (void) rtdIc13;
    (void) rtdIc14;
    (void) rtdIc15;
    (void) rtdIc16;
//    (void) rtdIc17;
    (void) rtdIc18;

#endif /* Q7S_ADD_RTD_DEVICES == 1 */

    I2cCookie* imtqI2cCookie = new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE,
            std::string("/dev/i2c-0"));
    new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);

    UartCookie* plocUartCookie = new UartCookie(objects::RW1, std::string("/dev/ttyUL3"),
            UartModes::NON_CANONICAL, 115200, PLOC::MAX_REPLY_SIZE);
    new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF, plocUartCookie);

    GpioCookie* gpioCookieRw = new GpioCookie;
    GpioCallback* csRw1 = new GpioCallback(std::string("Chip select reaction wheel 1"), gpio::OUT,
            1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieRw->addGpio(gpioIds::EN_RW1, csRw1);
    GpioCallback* csRw2 = new GpioCallback(std::string("Chip select reaction wheel 2"), gpio::OUT,
            1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieRw->addGpio(gpioIds::EN_RW2, csRw2);
    GpioCallback* csRw3 = new GpioCallback(std::string("Chip select reaction wheel 3"), gpio::OUT,
            1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieRw->addGpio(gpioIds::EN_RW3, csRw3);
    GpioCallback* csRw4 = new GpioCallback(std::string("Chip select reaction wheel 4"), gpio::OUT,
            1, &gpioCallbacks::spiCsDecoderCallback, gpioComIF);
    gpioCookieRw->addGpio(gpioIds::EN_RW4, csRw4);

	gpioComIF->addGpios(gpioCookieRw);

    auto rw1SpiCookie = new SpiCookie(addresses::RW1, gpioIds::EN_RW1, "/dev/spidev2.0",
            RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback, nullptr);

    auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie);
    rwHandler1->setStartUpImmediately();
    rw1SpiCookie->setCallbackArgs(rwHandler1);

#endif /* TE0720 == 0 */

    new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
    new UdpTcPollingTask(objects::UDP_POLLING_TASK, objects::UDP_BRIDGE);

#if TE0720 == 1 && TEST_LIBGPIOD == 1
    /* Configure MIO0 as input */
    GpiodRegular gpioConfigMio0(std::string("gpiochip0"), 0,
            std::string("MIO0"), gpio::IN, 0);
    GpioCookie* gpioCookie = new GpioCookie;
    gpioCookie->addGpio(gpioIds::TEST_ID_0, gpioConfigMio0);
    new LibgpiodTest(objects::LIBGPIOD_TEST, objects::GPIO_IF, gpioCookie);
#endif

#if TE0720 == 1 && TEST_SUS_HANDLER == 1
    GpioCookie* gpioCookieSus = new GpioCookie;
    GpiodRegular* chipSelectSus = new GpiodRegular(std::string("gpiochip1"), 9,
            std::string("Chip Select Sus Sensor"), gpio::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 TE0720 == 1 && TEST_CCSDS_BRIDGE == 1
    GpioCookie* gpioCookieCcsdsIp = new GpioCookie;
    GpiodRegular* papbBusyN = new GpiodRegular(std::string("gpiochip0"), 0, std::string("PAPBBusy_N"));
    gpioCookieCcsdsIp->addGpio(gpioIds::PAPB_BUSY_N, papbBusyN);
    GpiodRegular* papbEmpty = new GpiodRegular(std::string("gpiochip0"), 1,
            std::string("Chip Select Sus Sensor"));
    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 TE0720 == 1 && TEST_RADIATION_SENSOR_HANDLER == 1
    GpioCookie* gpioCookieRadSensor = new GpioCookie;
    GpiodRegular* chipSelectRadSensor = new GpiodRegular(std::string("gpiochip1"), 0,
            std::string("Chip select radiation sensor"), gpio::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 TE0720 == 1 && TEST_PLOC_HANDLER == 1
    UartCookie* plocUartCookie = new UartCookie(std::string("/dev/ttyPS1"), 115200,
            PLOC::MAX_REPLY_SIZE);
    /* Testing PlocHandler on TE0720-03-1CFA */
    PlocHandler* plocHandler = new PlocHandler(objects::PLOC_HANDLER, objects::UART_COM_IF,
            plocUartCookie);
    plocHandler->setStartUpImmediately();
#endif

#if TE0720 == 1 && TE0720_HEATER_TEST == 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 Q7S_ADD_SPI_TEST == 1
    new SpiTestClass(objects::SPI_TEST, gpioComIF);
#endif
}