eive-obsw/bsp_q7s/devices/startracker/StarTrackerHandler.cpp

#include "StarTrackerHandler.h"

#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/ipc/QueueFactory.h>
#include <mission/memory/NVMParameterBase.h>

#include <fstream>

#include "OBSWConfig.h"
#include "StarTrackerJsonCommands.h"
extern "C" {
#include <thirdparty/arcsec_star_tracker/client/generated/actionreq.h>
#include <thirdparty/arcsec_star_tracker/client/generated/telemetry.h>

#include "common/misc.h"
}

using json = nlohmann::json;

StarTrackerHandler::StarTrackerHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
                                       StrHelper* strHelper)
    : DeviceHandlerBase(objectId, comIF, comCookie),
      temperatureSet(this),
      versionSet(this),
      powerSet(this),
      interfaceSet(this),
      timeSet(this),
      solutionSet(this),
      histogramSet(this),
      contrastSet(this),
      checksumSet(this),
      downloadCentroidSet(this),
      downloadMatchedStar(this),
      downloadDbImage(this),
      downloadBlobPixel(this),
      strHelper(strHelper) {
  if (comCookie == nullptr) {
    sif::error << "StarTrackerHandler: Invalid com cookie" << std::endl;
  }
  if (strHelper == nullptr) {
    sif::error << "StarTrackerHandler: Invalid str image loader" << std::endl;
  }
  eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
}

StarTrackerHandler::~StarTrackerHandler() {}

ReturnValue_t StarTrackerHandler::initialize() {
  ReturnValue_t result = RETURN_OK;
  result = DeviceHandlerBase::initialize();
  if (result != RETURN_OK) {
    return result;
  }

  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
  if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "StarTrackerHandler::initialize: Invalid event manager" << std::endl;
#endif
    return ObjectManagerIF::CHILD_INIT_FAILED;
    ;
  }
  result = manager->registerListener(eventQueue->getId());
  if (result != RETURN_OK) {
    return result;
  }
  result = manager->subscribeToEventRange(eventQueue->getId(),
                                          event::getEventId(StrHelper::IMAGE_UPLOAD_FAILED),
                                          event::getEventId(StrHelper::FPGA_UPLOAD_FAILED));
  if (result != RETURN_OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "StarTrackerHandler::initialize: Failed to subscribe to events from "
                    " str helper"
                 << std::endl;
#endif
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }

  result = strHelper->setComIF(communicationInterface);
  if (result != RETURN_OK) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }
  strHelper->setComCookie(comCookie);
  return RETURN_OK;
}

ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                                const uint8_t* data, size_t size) {
  ReturnValue_t result = RETURN_OK;

  switch (actionId) {
    case (StarTracker::STOP_IMAGE_LOADER): {
      strHelper->stopProcess();
      return EXECUTION_FINISHED;
    }
    case (StarTracker::SET_JSON_FILE_NAME): {
      if (size > MAX_PATH_SIZE) {
        return FILE_PATH_TOO_LONG;
      }
      paramJsonFile = std::string(reinterpret_cast<const char*>(data), size);
      return EXECUTION_FINISHED;
    }
    default:
      break;
  }

  if (strHelperExecuting == true) {
    return IMAGE_LOADER_EXECUTING;
  }

  result = checkMode(actionId);
  if (result != RETURN_OK) {
    return result;
  }

  // Intercept image loader commands which do not follow the common DHB communication flow
  switch (actionId) {
    case (StarTracker::UPLOAD_IMAGE): {
      result = DeviceHandlerBase::acceptExternalDeviceCommands();
      if (result != RETURN_OK) {
        return result;
      }
      if (size > MAX_PATH_SIZE + MAX_FILE_NAME) {
        return FILE_PATH_TOO_LONG;
      }
      result = strHelper->startImageUpload(std::string(reinterpret_cast<const char*>(data), size));
      if (result != RETURN_OK) {
        return result;
      }
      strHelperExecuting = true;
      return EXECUTION_FINISHED;
    }
    case (StarTracker::DOWNLOAD_IMAGE): {
      result = DeviceHandlerBase::acceptExternalDeviceCommands();
      if (result != RETURN_OK) {
        return result;
      }
      if (size > MAX_PATH_SIZE) {
        return FILE_PATH_TOO_LONG;
      }
      result =
          strHelper->startImageDownload(std::string(reinterpret_cast<const char*>(data), size));
      if (result != RETURN_OK) {
        return result;
      }
      strHelperExecuting = true;
      return EXECUTION_FINISHED;
    }
    case (StarTracker::WRITE): {
      result = DeviceHandlerBase::acceptExternalDeviceCommands();
      if (result != RETURN_OK) {
        return result;
      }
      result = executeWriteCommand(data, size);
      if (result != RETURN_OK) {
        return result;
      }

      strHelperExecuting = true;
      return EXECUTION_FINISHED;
    }
    case (StarTracker::READ): {
      result = DeviceHandlerBase::acceptExternalDeviceCommands();
      if (result != RETURN_OK) {
        return result;
      }
      result = executeReadCommand(data, size);
      if (result != RETURN_OK) {
        return result;
      }
      strHelperExecuting = true;
      return EXECUTION_FINISHED;
    }
    case (StarTracker::CHANGE_DOWNLOAD_FILE): {
      if (size > MAX_FILE_NAME) {
        return FILENAME_TOO_LONG;
      }
      strHelper->setDownloadImageName(std::string(reinterpret_cast<const char*>(data), size));
      return EXECUTION_FINISHED;
    }
    case (StarTracker::CHANGE_FPGA_DOWNLOAD_FILE): {
      if (size > MAX_FILE_NAME) {
        return FILENAME_TOO_LONG;
      }
      strHelper->setDownloadFpgaImage(std::string(reinterpret_cast<const char*>(data), size));
      return EXECUTION_FINISHED;
    }
    case (StarTracker::SET_READ_FILENAME): {
      if (size > MAX_FILE_NAME) {
        return FILENAME_TOO_LONG;
      }
      strHelper->setDownloadImageName(std::string(reinterpret_cast<const char*>(data), size));
      return EXECUTION_FINISHED;
    }
    case (StarTracker::DOWNLOAD_FPGA_IMAGE): {
      result = DeviceHandlerBase::acceptExternalDeviceCommands();
      if (result != RETURN_OK) {
        return result;
      }
      if (size > MAX_PATH_SIZE) {
        return FILE_PATH_TOO_LONG;
      }
      result = executeFpgaDownloadCommand(data, size);
      if (result != RETURN_OK) {
        return result;
      }
      strHelperExecuting = true;
      return EXECUTION_FINISHED;
    }
    case (StarTracker::UPLOAD_FPGA_IMAGE): {
      result = DeviceHandlerBase::acceptExternalDeviceCommands();
      if (result != RETURN_OK) {
        return result;
      }
      if (size > MAX_PATH_SIZE + MAX_FILE_NAME) {
        return FILE_PATH_TOO_LONG;
      }
      result = strHelper->startFpgaUpload(std::string(reinterpret_cast<const char*>(data), size));
      if (result != RETURN_OK) {
        return result;
      }
      strHelperExecuting = true;
      return EXECUTION_FINISHED;
    }
    default:
      break;
  }
  return DeviceHandlerBase::executeAction(actionId, commandedBy, data, size);
}

void StarTrackerHandler::performOperationHook() {
  EventMessage event;
  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == RETURN_OK;
       result = eventQueue->receiveMessage(&event)) {
    switch (event.getMessageId()) {
      case EventMessage::EVENT_MESSAGE:
        handleEvent(&event);
        break;
      default:
        sif::debug << "CCSDSHandler::checkEvents: Did not subscribe to this event message"
                   << std::endl;
        break;
    }
  }
}

void StarTrackerHandler::doStartUp() {
  switch (startupState) {
    case StartupState::IDLE:
      startupState = StartupState::CHECK_BOOT_STATE;
      return;
    case StartupState::BOOT_DELAY:
      if (bootCountdown.hasTimedOut()) {
        startupState = StartupState::LIMITS;
      }
      return;
    case StartupState::DONE:
      break;
    default:
      return;
  }
  setMode(_MODE_TO_ON);
}

void StarTrackerHandler::doShutDown() {
  // If star tracker is shutdown also stop all running processes in the image loader task
  strHelper->stopProcess();
  setMode(_MODE_POWER_DOWN);
}

void StarTrackerHandler::doOffActivity() { startupState = StartupState::IDLE; }

ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
  switch (internalState) {
    case InternalState::TEMPERATURE_REQUEST:
      *id = StarTracker::REQ_TEMPERATURE;
      break;
    default:
      sif::debug << "StarTrackerHandler::buildNormalDeviceCommand: Invalid internal step"
                 << std::endl;
      break;
  }
  return buildCommandFromCommand(*id, NULL, 0);
}

ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
  if (mode != _MODE_START_UP) {
    return NOTHING_TO_SEND;
  }
  switch (startupState) {
    case StartupState::CHECK_BOOT_STATE:
      *id = StarTracker::REQ_VERSION;
      startupState = StartupState::WAIT_FOR_EXECUTION;
      return buildCommandFromCommand(*id, nullptr, 0);
    case StartupState::BOOT:
      *id = StarTracker::BOOT;
      bootCountdown.setTimeout(BOOT_TIMEOUT);
      startupState = StartupState::BOOT_DELAY;
      return buildCommandFromCommand(*id, nullptr, 0);
    case StartupState::LIMITS:
      startupState = StartupState::WAIT_FOR_EXECUTION;
      *id = StarTracker::LIMITS;
      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                     paramJsonFile.size());
    case StartupState::TRACKING:
      startupState = StartupState::WAIT_FOR_EXECUTION;
      *id = StarTracker::TRACKING;
      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                     paramJsonFile.size());
    case StartupState::MOUNTING:
      startupState = StartupState::WAIT_FOR_EXECUTION;
      *id = StarTracker::MOUNTING;
      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                     paramJsonFile.size());
    case StartupState::CAMERA:
      startupState = StartupState::WAIT_FOR_EXECUTION;
      *id = StarTracker::CAMERA;
      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                     paramJsonFile.size());
    case StartupState::BLOB:
      startupState = StartupState::WAIT_FOR_EXECUTION;
      *id = StarTracker::BLOB;
      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                     paramJsonFile.size());
    case StartupState::CENTROIDING:
      startupState = StartupState::WAIT_FOR_EXECUTION;
      *id = StarTracker::CENTROIDING;
      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                     paramJsonFile.size());
    case StartupState::LISA:
      startupState = StartupState::WAIT_FOR_EXECUTION;
      *id = StarTracker::LISA;
      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                     paramJsonFile.size());
    case StartupState::MATCHING:
      startupState = StartupState::WAIT_FOR_EXECUTION;
      *id = StarTracker::MATCHING;
      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                     paramJsonFile.size());
    case StartupState::VALIDATION:
      startupState = StartupState::WAIT_FOR_EXECUTION;
      *id = StarTracker::VALIDATION;
      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                     paramJsonFile.size());
    case StartupState::ALGO:
      startupState = StartupState::WAIT_FOR_EXECUTION;
      *id = StarTracker::ALGO;
      return buildCommandFromCommand(*id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()),
                                     paramJsonFile.size());
    default:
      break;
  }
  return NOTHING_TO_SEND;
}

ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                          const uint8_t* commandData,
                                                          size_t commandDataLen) {
  ReturnValue_t result = RETURN_OK;
  switch (deviceCommand) {
    case (StarTracker::PING_REQUEST): {
      preparePingRequest();
      return RETURN_OK;
    }
    case (StarTracker::REQ_TIME): {
      prepareTimeRequest();
      return RETURN_OK;
    }
    case (StarTracker::BOOT): {
      prepareBootCommand();
      return RETURN_OK;
    }
    case (StarTracker::REQ_VERSION): {
      prepareVersionRequest();
      return RETURN_OK;
    }
    case (StarTracker::REQ_INTERFACE): {
      prepareInterfaceRequest();
      return RETURN_OK;
    }
    case (StarTracker::REQ_POWER): {
      preparePowerRequest();
      return RETURN_OK;
    }
    case (StarTracker::SWITCH_TO_BOOTLOADER_PROGRAM): {
      prepareRebootCommand();
      return RETURN_OK;
    }
    case (StarTracker::TAKE_IMAGE): {
      prepareTakeImageCommand(commandData);
      return RETURN_OK;
    }
    case (StarTracker::SUBSCRIBE_TO_TM): {
      prepareSubscriptionCommand(commandData);
      return RETURN_OK;
    }
    case (StarTracker::REQ_SOLUTION): {
      prepareSolutionRequest();
      return RETURN_OK;
    }
    case (StarTracker::REQ_TEMPERATURE): {
      prepareTemperatureRequest();
      return RETURN_OK;
    }
    case (StarTracker::REQ_HISTOGRAM): {
      prepareHistogramRequest();
      return RETURN_OK;
    }
    case (StarTracker::REQ_CONTRAST): {
      prepareContrastRequest();
      return RETURN_OK;
    }
    case (StarTracker::RESET_ERROR): {
      prepareErrorResetRequest();
      return RETURN_OK;
    }
    case (StarTracker::LIMITS): {
      Limits limits;
      result = prepareParamCommand(commandData, commandDataLen, limits);
      return result;
    }
    case (StarTracker::MOUNTING): {
      Mounting mounting;
      result = prepareParamCommand(commandData, commandDataLen, mounting);
      return result;
    }
    case (StarTracker::CAMERA): {
      Camera camera;
      result = prepareParamCommand(commandData, commandDataLen, camera);
      return result;
    }
    case (StarTracker::BLOB): {
      Blob blob;
      result = prepareParamCommand(commandData, commandDataLen, blob);
      return result;
    }
    case (StarTracker::CENTROIDING): {
      Centroiding centroiding;
      result = prepareParamCommand(commandData, commandDataLen, centroiding);
      return result;
    }
    case (StarTracker::LISA): {
      Lisa lisa;
      result = prepareParamCommand(commandData, commandDataLen, lisa);
      return result;
    }
    case (StarTracker::MATCHING): {
      Matching matching;
      result = prepareParamCommand(commandData, commandDataLen, matching);
      return result;
    }
    case (StarTracker::VALIDATION): {
      Validation validation;
      result = prepareParamCommand(commandData, commandDataLen, validation);
      return result;
    }
    case (StarTracker::ALGO): {
      Algo algo;
      result = prepareParamCommand(commandData, commandDataLen, algo);
      return result;
    }
    case (StarTracker::TRACKING): {
      Tracking tracking;
      result = prepareParamCommand(commandData, commandDataLen, tracking);
      return result;
    }
    case (StarTracker::ERASE): {
      result = prepareEraseCommand(commandData, commandDataLen);
      return result;
    }
    case (StarTracker::UNLOCK): {
      result = prepareUnlockCommand(commandData, commandDataLen);
      return result;
    }
    case (StarTracker::CHECKSUM): {
      result = prepareChecksumCommand(commandData, commandDataLen);
      return result;
    }
    case (StarTracker::SET_TIME): {
      result = prepareSetTimeCommand(commandData, commandDataLen);
      return result;
    }
    case (StarTracker::DOWNLOAD_CENTROID): {
      result = prepareDownloadCentroidCommand(commandData, commandDataLen);
      return result;
    }
    case (StarTracker::UPLOAD_CENTROID): {
      result = prepareUploadCentroidCommand(commandData, commandDataLen);
      return result;
    }
    case (StarTracker::DOWNLOAD_MATCHED_STAR): {
      result = prepareDownloadMatchedStarCommand(commandData, commandDataLen);
      return result;
    }
    case (StarTracker::DOWNLOAD_DBIMAGE): {
      result = prepareDownloadDbImageCommand(commandData, commandDataLen);
      return result;
    }
    case (StarTracker::DOWNLOAD_BLOBPIXEL): {
      result = prepareDownloadBlobPixelCommand(commandData, commandDataLen);
      return result;
    }
    case (StarTracker::FPGA_ACTION): {
      result = prepareFpgaActionCommand(commandData, commandDataLen);
      return result;
    }
    default:
      return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
  }
  return HasReturnvaluesIF::RETURN_FAILED;
}

void StarTrackerHandler::fillCommandAndReplyMap() {
  /** Reply lengths are unknown because of the slip encoding. Thus always maximum reply size
   * is specified */
  this->insertInCommandAndReplyMap(StarTracker::PING_REQUEST, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandMap(StarTracker::BOOT);
  this->insertInCommandAndReplyMap(StarTracker::REQ_VERSION, 3, &versionSet,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::REQ_TIME, 3, &timeSet,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandMap(StarTracker::UPLOAD_IMAGE);
  this->insertInCommandMap(StarTracker::DOWNLOAD_IMAGE);
  this->insertInCommandAndReplyMap(StarTracker::REQ_POWER, 3, &powerSet,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::REQ_INTERFACE, 3, &interfaceSet,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  // Reboot has no reply. Star tracker reboots immediately
  this->insertInCommandMap(StarTracker::SWITCH_TO_BOOTLOADER_PROGRAM);
  this->insertInCommandAndReplyMap(StarTracker::SUBSCRIBE_TO_TM, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::REQ_SOLUTION, 3, &solutionSet,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::REQ_TEMPERATURE, 3, &temperatureSet,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::REQ_HISTOGRAM, 3, &histogramSet,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::REQ_CONTRAST, 3, &contrastSet,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::LIMITS, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::MOUNTING, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::CAMERA, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::BLOB, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::CENTROIDING, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::LISA, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::MATCHING, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::TRACKING, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::VALIDATION, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::ALGO, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::TAKE_IMAGE, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::RESET_ERROR, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::ERASE, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::UNLOCK, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::CHECKSUM, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::SET_TIME, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::DOWNLOAD_CENTROID, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::UPLOAD_CENTROID, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::DOWNLOAD_MATCHED_STAR, 3, &downloadMatchedStar,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::DOWNLOAD_DBIMAGE, 3, &downloadDbImage,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::DOWNLOAD_BLOBPIXEL, 3, &downloadBlobPixel,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
  this->insertInCommandAndReplyMap(StarTracker::FPGA_ACTION, 3, nullptr,
                                   StarTracker::MAX_FRAME_SIZE * 2 + 2);
}

ReturnValue_t StarTrackerHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                               DeviceCommandId_t* foundId, size_t* foundLen) {
  ReturnValue_t result = RETURN_OK;
  size_t bytesLeft = 0;

  result = dataLinkLayer.decodeFrame(start, remainingSize, &bytesLeft);
  switch (result) {
    case ArcsecDatalinkLayer::DEC_IN_PROGRESS: {
      remainingSize = bytesLeft;
      // Need a second doSendRead pass to reaa in whole packet
      return IGNORE_REPLY_DATA;
    }
    case RETURN_OK: {
      break;
    }
    default:
      remainingSize = bytesLeft;
      return result;
  }

  switch (dataLinkLayer.getReplyFrameType()) {
    case TMTC_ACTIONREPLY: {
      *foundLen = remainingSize - bytesLeft;
      result = scanForActionReply(foundId);
      break;
    }
    case TMTC_SETPARAMREPLY: {
      *foundLen = remainingSize - bytesLeft;
      result = scanForParameterReply(foundId);
      break;
    }
    case TMTC_TELEMETRYREPLYA:
    case TMTC_TELEMETRYREPLY: {
      *foundLen = remainingSize - bytesLeft;
      result = scanForTmReply(foundId);
      break;
    }
    default: {
      sif::debug << "StarTrackerHandler::scanForReply: Reply has invalid type id" << std::endl;
      result = RETURN_FAILED;
    }
  }

  remainingSize = bytesLeft;

  return result;
}

ReturnValue_t StarTrackerHandler::interpretDeviceReply(DeviceCommandId_t id,
                                                       const uint8_t* packet) {
  ReturnValue_t result = RETURN_OK;

  switch (id) {
    case (StarTracker::SUBSCRIBE_TO_TM): {
      result = handleSetParamReply();
      break;
    }
    case (StarTracker::REQ_TIME): {
      result = handleTm(timeSet, StarTracker::TimeSet::SIZE);
      break;
    }
    case (StarTracker::PING_REQUEST): {
      result = handlePingReply();
      break;
    }
    case (StarTracker::BOOT):
    case (StarTracker::TAKE_IMAGE):
    case (StarTracker::RESET_ERROR):
    case (StarTracker::UNLOCK):
    case (StarTracker::SET_TIME):
    case (StarTracker::FPGA_ACTION): {
      result = handleActionReply();
      break;
    }
    case (StarTracker::DOWNLOAD_CENTROID): {
      result = handleActionReplySet(downloadCentroidSet, StarTracker::DownloadCentroidSet::SIZE);
      break;
    }
    case (StarTracker::DOWNLOAD_MATCHED_STAR): {
      result = handleActionReplySet(downloadMatchedStar, StarTracker::DownloadMatchedStar::SIZE);
      break;
    }
    case (StarTracker::DOWNLOAD_DBIMAGE): {
      result = handleActionReplySet(downloadDbImage, StarTracker::DownloadDBImage::SIZE);
      break;
    }
    case (StarTracker::DOWNLOAD_BLOBPIXEL): {
      result = handleActionReplySet(downloadBlobPixel, StarTracker::DownloadBlobPixel::SIZE);
      break;
    }
    case (StarTracker::UPLOAD_CENTROID): {
      result = handleUploadCentroidReply();
      break;
    }
    case (StarTracker::ERASE): {
      result = handleEraseReply();
      break;
    }
    case (StarTracker::CHECKSUM): {
      result = handleChecksumReply();
      break;
    }
    case (StarTracker::REQ_VERSION): {
      result = handleTm(versionSet, StarTracker::VersionSet::SIZE);
      if (result != RETURN_OK) {
        return result;
      }
      result = checkProgram();
      if (result != RETURN_OK) {
        return result;
      }
      break;
    }
    case (StarTracker::REQ_INTERFACE): {
      result = handleTm(interfaceSet, StarTracker::InterfaceSet::SIZE);
      break;
    }
    case (StarTracker::REQ_POWER): {
      result = handleTm(powerSet, StarTracker::PowerSet::SIZE);
      break;
    }
    case (StarTracker::REQ_SOLUTION): {
      result = handleTm(solutionSet, StarTracker::SolutionSet::SIZE);
      break;
    }
    case (StarTracker::REQ_TEMPERATURE): {
      result = handleTm(temperatureSet, StarTracker::TemperatureSet::SIZE);
      break;
    }
    case (StarTracker::REQ_HISTOGRAM): {
      result = handleTm(histogramSet, StarTracker::HistogramSet::SIZE);
      break;
    }
    case (StarTracker::REQ_CONTRAST): {
      result = handleTm(contrastSet, StarTracker::ContrastSet::SIZE);
      break;
    }
    case (StarTracker::LIMITS):
    case (StarTracker::MOUNTING):
    case (StarTracker::CAMERA):
    case (StarTracker::BLOB):
    case (StarTracker::CENTROIDING):
    case (StarTracker::LISA):
    case (StarTracker::MATCHING):
    case (StarTracker::TRACKING):
    case (StarTracker::VALIDATION):
    case (StarTracker::ALGO): {
      result = handleSetParamReply();
      break;
    }
    default: {
      sif::debug << "StarTrackerHandler::interpretDeviceReply: Unknown device reply id:" << id
                 << std::endl;
      result = DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
    }
  }

  return result;
}

void StarTrackerHandler::setNormalDatapoolEntriesInvalid() {}

uint32_t StarTrackerHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 20000; }

ReturnValue_t StarTrackerHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                          LocalDataPoolManager& poolManager) {
  localDataPoolMap.emplace(StarTracker::TICKS_TIME_SET, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::TIME_TIME_SET, new PoolEntry<uint64_t>({0}));
  localDataPoolMap.emplace(StarTracker::RUN_TIME, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::UNIX_TIME, new PoolEntry<uint64_t>({0}));

  localDataPoolMap.emplace(StarTracker::TICKS_VERSION_SET, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::TIME_VERSION_SET, new PoolEntry<uint64_t>({0}));
  localDataPoolMap.emplace(StarTracker::PROGRAM, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(StarTracker::MAJOR, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(StarTracker::MINOR, new PoolEntry<uint8_t>({0}));

  localDataPoolMap.emplace(StarTracker::TICKS_INTERFACE_SET, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::TIME_INTERFACE_SET, new PoolEntry<uint64_t>({0}));
  localDataPoolMap.emplace(StarTracker::FRAME_COUNT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CHECKSUM_ERROR_COUNT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::SET_PARAM_COUNT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::SET_PARAM_REPLY_COUNT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::PARAM_REQUEST_COUNT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::PARAM_REPLY_COUNT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::REQ_TM_COUNT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::TM_REPLY_COUNT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::ACTION_REQ_COUNT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::ACTION_REPLY_COUNT, new PoolEntry<uint32_t>({0}));

  localDataPoolMap.emplace(StarTracker::TICKS_POWER_SET, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::TIME_POWER_SET, new PoolEntry<uint64_t>({0}));
  localDataPoolMap.emplace(StarTracker::MCU_CURRENT, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::MCU_VOLTAGE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::FPGA_CORE_CURRENT, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::FPGA_CORE_VOLTAGE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::FPGA_18_CURRENT, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::FPGA_18_VOLTAGE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::FPGA_25_CURRENT, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::FPGA_25_VOLTAGE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::CMV_21_CURRENT, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::CMV_21_VOLTAGE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::CMV_PIX_CURRENT, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::CMV_PIX_VOLTAGE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::CMV_33_CURRENT, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::CMV_33_VOLTAGE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::CMV_RES_CURRENT, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::CMV_RES_VOLTAGE, new PoolEntry<float>({0}));

  localDataPoolMap.emplace(StarTracker::TICKS_TEMPERATURE_SET, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::TIME_TEMPERATURE_SET, new PoolEntry<uint64_t>({0}));
  localDataPoolMap.emplace(StarTracker::MCU_TEMPERATURE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::CMOS_TEMPERATURE, new PoolEntry<float>({0}));

  localDataPoolMap.emplace(StarTracker::TICKS_SOLUTION_SET, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::TIME_SOLUTION_SET, new PoolEntry<uint64_t>({0}));
  localDataPoolMap.emplace(StarTracker::CALI_QW, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::CALI_QX, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::CALI_QY, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::CALI_QZ, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::TRACK_CONFIDENCE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::TRACK_QW, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::TRACK_QX, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::TRACK_QY, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::TRACK_QZ, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::TRACK_REMOVED, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(StarTracker::STARS_CENTROIDED, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(StarTracker::STARS_MATCHED_DATABASE, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(StarTracker::LISA_QW, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::LISA_QX, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::LISA_QY, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::LISA_QZ, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::LISA_PERC_CLOSE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::LISA_NR_CLOSE, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(StarTracker::TRUST_WORTHY, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(StarTracker::STABLE_COUNT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::SOLUTION_STRATEGY, new PoolEntry<uint8_t>({0}));

  localDataPoolMap.emplace(StarTracker::TICKS_HISTOGRAM_SET, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::TIME_HISTOGRAM_SET, new PoolEntry<uint64_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA0, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA1, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA2, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA3, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA4, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA5, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA6, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA7, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINA8, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB0, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB1, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB2, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB3, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB4, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB5, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB6, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB7, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINB8, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC0, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC1, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC2, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC3, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC4, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC5, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC6, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC7, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BINC8, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND0, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND1, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND2, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND3, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND4, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND5, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND6, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND7, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::HISTOGRAM_BIND8, new PoolEntry<uint32_t>({0}));

  localDataPoolMap.emplace(StarTracker::TICKS_CONTRAST_SET, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::TIME_CONTRAST_SET, new PoolEntry<uint64_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINA0, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINA1, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINA2, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINA3, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINA4, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINA5, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINA6, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINA7, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINA8, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINB0, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINB1, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINB2, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINB3, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINB4, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINB5, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINB6, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINB7, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINB8, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINC8, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINC0, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINC1, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINC2, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINC3, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINC4, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINC5, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINC6, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINC7, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BINC8, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BIND0, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BIND1, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BIND2, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BIND3, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BIND4, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BIND5, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BIND6, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BIND7, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CONTRAST_BIND8, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::CHKSUM, new PoolEntry<uint32_t>({0}));

  localDataPoolMap.emplace(StarTracker::DWL_ID, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(StarTracker::DWL_PIXX, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::DWL_PIXY, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::DWL_X_UNCORRECTED, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::DWL_Y_UNCORRECTED, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::DWL_X_CORRECTED, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::DWL_Y_CORRECTED, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::DWL_MAGNITUDE, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(StarTracker::DWL_CXA, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::DWL_CYA, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::DWL_QUALITY, new PoolEntry<float>({0}));

  localDataPoolMap.emplace(StarTracker::MATCHEDSTR_ID, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMFPX, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMFPY, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMCARTX, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMCARTY, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMCARTZ, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CAMMAGNITUDE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBFPX, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBFPY, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBCARTX, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBCARTY, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBCARTZ, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::MATCHEDSTR_DBMAGNITUDE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(StarTracker::MATCHEDSTR_CATALOGID, new PoolEntry<uint32_t>({0}));

  localDataPoolMap.emplace(StarTracker::BLOBPIX_ID, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(StarTracker::BLOBPIX_X, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::BLOBPIX_Y, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::BLOBPIX_TOT_VAL, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::BLOBPIX_IN_USE, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(StarTracker::BLOBPIX_BRIGHT_NEIGHBOURS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(StarTracker::BLOBPIX_REGION, new PoolEntry<uint32_t>({0}));
  return RETURN_OK;
}

size_t StarTrackerHandler::getNextReplyLength(DeviceCommandId_t commandId) {
  return StarTracker::MAX_FRAME_SIZE;
}

ReturnValue_t StarTrackerHandler::doSendReadHook() {
  // Prevent DHB from polling UART during commands executed by the image loader task
  if (strHelperExecuting) {
    return RETURN_FAILED;
  }
  return RETURN_OK;
}

ReturnValue_t StarTrackerHandler::checkMode(ActionId_t actionId) {
  switch (actionId) {
    case StarTracker::UPLOAD_IMAGE:
    case StarTracker::DOWNLOAD_IMAGE: {
      return DeviceHandlerBase::acceptExternalDeviceCommands();
      default:
        break;
    }
  }
  return RETURN_OK;
}

ReturnValue_t StarTrackerHandler::scanForActionReply(DeviceCommandId_t* foundId) {
  const uint8_t* reply = dataLinkLayer.getReply();
  switch (*reply) {
    case (StarTracker::ID::PING): {
      *foundId = StarTracker::PING_REQUEST;
      break;
    }
    case (StarTracker::ID::WRITE): {
      *foundId = StarTracker::WRITE;
      break;
    }
    case (StarTracker::ID::BOOT): {
      *foundId = StarTracker::BOOT;
      break;
    }
    case (StarTracker::ID::TAKE_IMAGE): {
      *foundId = StarTracker::TAKE_IMAGE;
      break;
    }
    case (StarTracker::ID::UPLOAD_IMAGE): {
      *foundId = StarTracker::UPLOAD_IMAGE;
      break;
    }
    case (StarTracker::ID::ERROR_RESET): {
      *foundId = StarTracker::RESET_ERROR;
      break;
    }
    case (StarTracker::ID::ERASE): {
      *foundId = StarTracker::ERASE;
      break;
    }
    case (StarTracker::ID::UNLOCK): {
      *foundId = StarTracker::UNLOCK;
      break;
    }
    case (StarTracker::ID::CHECKSUM): {
      *foundId = StarTracker::CHECKSUM;
      break;
    }
    case (StarTracker::ID::SET_TIME): {
      *foundId = StarTracker::SET_TIME;
      break;
    }
    case (StarTracker::ID::DOWNLOAD_CENTROID): {
      *foundId = StarTracker::DOWNLOAD_CENTROID;
      break;
    }
    case (StarTracker::ID::UPLOAD_CENTROID): {
      *foundId = StarTracker::UPLOAD_CENTROID;
      break;
    }
    case (StarTracker::ID::DOWNLOAD_MATCHED_STAR): {
      *foundId = StarTracker::DOWNLOAD_MATCHED_STAR;
      break;
    }
    case (StarTracker::ID::DOWNLOAD_DBIMAGE): {
      *foundId = StarTracker::DOWNLOAD_DBIMAGE;
      break;
    }
    case (StarTracker::ID::DOWNLOAD_BLOBPIXEL): {
      *foundId = StarTracker::DOWNLOAD_BLOBPIXEL;
      break;
    }
    case (StarTracker::ID::FPGA_ACTION): {
      *foundId = StarTracker::FPGA_ACTION;
      break;
    }
    default:
      sif::warning << "StarTrackerHandler::scanForParameterReply: Unknown parameter reply id"
                   << std::endl;
      return RETURN_FAILED;
  }
  return RETURN_OK;
}

ReturnValue_t StarTrackerHandler::scanForParameterReply(DeviceCommandId_t* foundId) {
  const uint8_t* reply = dataLinkLayer.getReply();
  switch (*reply) {
    case (StarTracker::ID::SUBSCRIBE): {
      *foundId = StarTracker::SUBSCRIBE_TO_TM;
      break;
    }
    case (StarTracker::ID::LIMITS): {
      *foundId = StarTracker::LIMITS;
      break;
    }
    case (StarTracker::ID::MOUNTING): {
      *foundId = StarTracker::MOUNTING;
      break;
    }
    case (StarTracker::ID::CAMERA): {
      *foundId = StarTracker::CAMERA;
      break;
    }
    case (StarTracker::ID::BLOB): {
      *foundId = StarTracker::BLOB;
      break;
    }
    case (StarTracker::ID::CENTROIDING): {
      *foundId = StarTracker::CENTROIDING;
      break;
    }
    case (StarTracker::ID::LISA): {
      *foundId = StarTracker::LISA;
      break;
    }
    case (StarTracker::ID::MATCHING): {
      *foundId = StarTracker::MATCHING;
      break;
    }
    case (StarTracker::ID::TRACKING): {
      *foundId = StarTracker::TRACKING;
      break;
    }
    case (StarTracker::ID::VALIDATION): {
      *foundId = StarTracker::VALIDATION;
      break;
    }
    case (StarTracker::ID::ALGO): {
      *foundId = StarTracker::ALGO;
      break;
    }
    default:
      sif::debug << "StarTrackerHandler::scanForParameterReply: Unknown parameter reply id"
                 << std::endl;
      return RETURN_FAILED;
  }
  return RETURN_OK;
}

ReturnValue_t StarTrackerHandler::scanForTmReply(DeviceCommandId_t* foundId) {
  const uint8_t* reply = dataLinkLayer.getReply();
  switch (*reply) {
    case (StarTracker::ID::VERSION): {
      *foundId = StarTracker::REQ_VERSION;
      break;
    }
    case (StarTracker::ID::INTERFACE): {
      *foundId = StarTracker::REQ_INTERFACE;
      break;
    }
    case (StarTracker::ID::POWER): {
      *foundId = StarTracker::REQ_POWER;
      break;
    }
    case (StarTracker::ID::TEMPERATURE): {
      *foundId = StarTracker::REQ_TEMPERATURE;
      break;
    }
    case (StarTracker::ID::HISTOGRAM): {
      *foundId = StarTracker::REQ_HISTOGRAM;
      break;
    }
    case (StarTracker::ID::CONTRAST): {
      *foundId = StarTracker::REQ_CONTRAST;
      break;
    }
    case (StarTracker::ID::TIME): {
      *foundId = StarTracker::REQ_TIME;
      break;
    }
    case (StarTracker::ID::SOLUTION): {
      *foundId = StarTracker::REQ_SOLUTION;
      break;
    }
    default: {
      sif::debug << "StarTrackerHandler::scanForTmReply: Reply contains invalid reply id"
                 << std::endl;
      return RETURN_FAILED;
      break;
    }
  }
  return RETURN_OK;
}

void StarTrackerHandler::handleEvent(EventMessage* eventMessage) {
  object_id_t objectId = eventMessage->getReporter();
  switch (objectId) {
    case objects::STR_HELPER: {
      // All events from image loader signal either that the operation was successful or that it
      // failed
      strHelperExecuting = false;
      break;
    }
    default:
      sif::debug << "StarTrackerHandler::handleEvent: Did not subscribe to this event" << std::endl;
      break;
  }
}

ReturnValue_t StarTrackerHandler::executeWriteCommand(const uint8_t* commandData,
                                                      size_t commandDataLen) {
  ReturnValue_t result = RETURN_OK;
  if (commandDataLen < WriteCmd::MIN_LENGTH) {
    sif::warning << "StarTrackerHandler::executeWriteCommand: Command too short" << std::endl;
    return COMMAND_TOO_SHORT;
  }
  uint8_t region = *(commandData);
  uint32_t address;
  size_t size = sizeof(address);
  const uint8_t* addressPtr = commandData + WriteCmd::ADDRESS_OFFSET;
  result = SerializeAdapter::deSerialize(&address, addressPtr, &size, SerializeIF::Endianness::BIG);
  if (result != RETURN_OK) {
    sif::debug << "StarTrackerHandler::executeWriteCommand: Deserialization of address failed"
               << std::endl;
    return result;
  }
  if (commandDataLen - sizeof(address) - sizeof(region) > MAX_PATH_SIZE) {
    sif::warning << "StarTrackerHandler::executeWriteCommand: Received command with invalid"
                 << " path and filename" << std::endl;
    return FILE_PATH_TOO_LONG;
  }
  const uint8_t* filePtr = commandData + WriteCmd::FILE_OFFSET;
  std::string fullname = std::string(reinterpret_cast<const char*>(filePtr),
                                     commandDataLen - sizeof(address) - sizeof(region));
  result = strHelper->startFlashWrite(fullname, region, address);
  if (result != RETURN_OK) {
    return result;
  }
  return result;
}

ReturnValue_t StarTrackerHandler::executeFpgaDownloadCommand(const uint8_t* commandData,
                                                             size_t commandDataLen) {
  ReturnValue_t result = RETURN_OK;
  if (commandDataLen < FpgaDownloadCmd::MIN_LENGTH) {
    sif::warning << "StarTrackerHandler::executeFpgaDownloadCommand: Command too short"
                 << std::endl;
    return COMMAND_TOO_SHORT;
  }
  uint32_t position;
  size_t size = sizeof(position);
  result =
      SerializeAdapter::deSerialize(&position, &commandData, &size, SerializeIF::Endianness::BIG);
  if (result != RETURN_OK) {
    sif::debug << "StarTrackerHandler::executeWriteCommand: Deserialization of position failed"
               << std::endl;
    return result;
  }
  uint32_t length;
  size = sizeof(length);
  result =
      SerializeAdapter::deSerialize(&length, &commandData, &size, SerializeIF::Endianness::BIG);
  if (result != RETURN_OK) {
    sif::debug << "StarTrackerHandler::executeWriteCommand: Deserialization of length failed"
               << std::endl;
    return result;
  }
  if (commandDataLen - sizeof(position) - sizeof(length) > MAX_PATH_SIZE) {
    sif::warning << "StarTrackerHandler::executeFpgaDownloadCommand: Received command with "
                    " invalid path and filename"
                 << std::endl;
    return FILE_PATH_TOO_LONG;
  }
  std::string fullname = std::string(reinterpret_cast<const char*>(commandData),
                                     commandDataLen - sizeof(position) - sizeof(length));
  result = strHelper->startFpgaDownload(fullname, position, length);
  if (result != RETURN_OK) {
    return result;
  }
  return result;
}

ReturnValue_t StarTrackerHandler::executeReadCommand(const uint8_t* commandData,
                                                     size_t commandDataLen) {
  ReturnValue_t result = RETURN_OK;
  if (commandDataLen < ReadCmd::MIN_LENGTH) {
    sif::warning << "StarTrackerHandler::executeReadCommand: Command too short" << std::endl;
    return COMMAND_TOO_SHORT;
  }
  uint8_t region = *(commandData);
  uint32_t address;
  size_t size = sizeof(address);
  const uint8_t* addressPtr = commandData + ReadCmd::ADDRESS_OFFSET;
  result = SerializeAdapter::deSerialize(&address, addressPtr, &size, SerializeIF::Endianness::BIG);
  if (result != RETURN_OK) {
    sif::debug << "StarTrackerHandler::executeReadCommand: Deserialization of address failed"
               << std::endl;
    return result;
  }
  uint32_t length;
  size = sizeof(length);
  const uint8_t* lengthPtr = commandData + ReadCmd::LENGTH_OFFSET;
  result = SerializeAdapter::deSerialize(&length, lengthPtr, &size, SerializeIF::Endianness::BIG);
  if (result != RETURN_OK) {
    sif::debug << "StarTrackerHandler::executeReadCommand: Deserialization of length failed"
               << std::endl;
    return result;
  }
  if (commandDataLen - sizeof(address) - sizeof(region) - sizeof(length) > MAX_PATH_SIZE) {
    sif::warning << "StarTrackerHandler::executeReadCommand: Received command with invalid"
                 << " path and filename" << std::endl;
    return FILE_PATH_TOO_LONG;
  }
  const uint8_t* filePtr = commandData + ReadCmd::FILE_OFFSET;
  std::string fullname =
      std::string(reinterpret_cast<const char*>(filePtr),
                  commandDataLen - sizeof(address) - sizeof(region) - sizeof(length));
  result = strHelper->startFlashRead(fullname, region, address, length);
  if (result != RETURN_OK) {
    return result;
  }
  return result;
}

void StarTrackerHandler::prepareBootCommand() {
  uint32_t length = 0;
  struct BootActionRequest bootRequest = {BOOT_REGION_ID};
  arc_pack_boot_action_req(&bootRequest, commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
}

ReturnValue_t StarTrackerHandler::prepareEraseCommand(const uint8_t* commandData,
                                                      size_t commandDataLen) {
  ReturnValue_t result = RETURN_OK;
  if (commandDataLen != EraseCmd::LENGTH) {
    return INVALID_LENGTH;
  }
  uint32_t length = 0;
  struct EraseActionRequest req;
  req.region = *commandData;
  arc_pack_erase_action_req(&req, commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
  eraseCmd.rememberRegion = req.region;
  return result;
}

ReturnValue_t StarTrackerHandler::prepareUnlockCommand(const uint8_t* commandData,
                                                       size_t commandDataLen) {
  ReturnValue_t result = RETURN_OK;
  uint32_t length = 0;
  struct UnlockActionRequest req;
  req.region = *commandData;
  size_t size = sizeof(req.code);
  const uint8_t* codePtr = commandData + UnlockCmd::CODE_OFFSET;
  result = SerializeAdapter::deSerialize(&req.code, &codePtr, &size, SerializeIF::Endianness::BIG);
  if (result != RETURN_OK) {
    return result;
  }
  arc_pack_unlock_action_req(&req, commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
  return result;
}

ReturnValue_t StarTrackerHandler::prepareChecksumCommand(const uint8_t* commandData,
                                                         size_t commandDataLen) {
  struct ChecksumActionRequest req;
  ReturnValue_t result = RETURN_OK;
  if (commandDataLen != ChecksumCmd::LENGTH) {
    sif::warning << "StarTrackerHandler::prepareChecksumCommand: Invalid length" << std::endl;
    return INVALID_LENGTH;
  }
  req.region = *(commandData);
  size_t size = sizeof(req.address);
  const uint8_t* addressPtr = commandData + ChecksumCmd::ADDRESS_OFFSET;
  result =
      SerializeAdapter::deSerialize(&req.address, addressPtr, &size, SerializeIF::Endianness::BIG);
  if (result != RETURN_OK) {
    sif::debug << "StarTrackerHandler::prepareChecksumCommand: Deserialization of address "
               << "failed" << std::endl;
    return result;
  }
  size = sizeof(req.length);
  const uint8_t* lengthPtr = commandData + ChecksumCmd::LENGTH_OFFSET;
  result =
      SerializeAdapter::deSerialize(&req.length, lengthPtr, &size, SerializeIF::Endianness::BIG);
  if (result != RETURN_OK) {
    sif::debug << "StarTrackerHandler::prepareChecksumCommand: Deserialization of length failed"
               << std::endl;
    return result;
  }
  uint32_t rawCmdLength = 0;
  arc_pack_checksum_action_req(&req, commandBuffer, &rawCmdLength);
  dataLinkLayer.encodeFrame(commandBuffer, rawCmdLength);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
  checksumCmd.rememberRegion = req.region;
  checksumCmd.rememberAddress = req.address;
  checksumCmd.rememberLength = req.length;
  return result;
}

ReturnValue_t StarTrackerHandler::prepareSetTimeCommand(const uint8_t* commandData,
                                                        size_t commandDataLen) {
  ReturnValue_t result = RETURN_OK;
  struct SetTimeActionRequest req;
  if (commandDataLen != SetTimeCmd::LENGTH) {
    sif::warning << "StarTrackerHandler::prepareSetTimeCommand: Invalid length" << std::endl;
    return INVALID_LENGTH;
  }
  size_t size = sizeof(req.unixTime);
  result = SerializeAdapter::deSerialize(&req.unixTime, commandData, &size,
                                         SerializeIF::Endianness::BIG);
  if (result != RETURN_OK) {
    sif::debug << "StarTrackerHandler::prepareSetTimeCommand: Deserialization failed" << std::endl;
    return result;
  }
  uint32_t length = 0;
  arc_pack_settime_action_req(&req, commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
  return result;
}

ReturnValue_t StarTrackerHandler::prepareDownloadCentroidCommand(const uint8_t* commandData,
                                                                 size_t commandDataLen) {
  ReturnValue_t result = RETURN_OK;
  struct DownloadCentroidActionRequest req;
  if (commandDataLen != DownloadCentroidCmd::LENGTH) {
    sif::warning << "StarTrackerHandler::prepareDownloadCentroidCommand: Invalid length"
                 << std::endl;
    return INVALID_LENGTH;
  }
  req.id = *commandData;
  uint32_t length = 0;
  arc_pack_downloadcentroid_action_req(&req, commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
  return result;
}

ReturnValue_t StarTrackerHandler::prepareUploadCentroidCommand(const uint8_t* commandData,
                                                               size_t commandDataLen) {
  if (commandDataLen > MAX_PATH_SIZE) {
    return FILE_PATH_TOO_LONG;
  }
  ReturnValue_t result = RETURN_OK;
  struct UploadCentroidActionRequest req;
  std::string jsonFileName =
      std::string(reinterpret_cast<const char*>(commandData), commandDataLen);
  NVMParameterBase j(jsonFileName);
  result = j.readJsonFile();
  if (result != RETURN_OK) {
    sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: " << jsonFileName
                 << " does not exist" << std::endl;
    return result;
  }
  result = j.getValue(StarTracker::UploadCentroidKeys::id, &req.id);
  if (result != RETURN_OK) {
    sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key "
                 << StarTracker::UploadCentroidKeys::id << " does not exist" << std::endl;
    return result;
  }
  result = j.getValue(StarTracker::UploadCentroidKeys::pixx, &req.pixx);
  if (result != RETURN_OK) {
    sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key "
                 << StarTracker::UploadCentroidKeys::pixx << " does not exist" << std::endl;
    return result;
  }
  result = j.getValue(StarTracker::UploadCentroidKeys::pixy, &req.pixy);
  if (result != RETURN_OK) {
    sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key "
                 << StarTracker::UploadCentroidKeys::pixy << " does not exist" << std::endl;
    return result;
  }
  result = j.getValue(StarTracker::UploadCentroidKeys::x_uncorrected, &req.x_uncorrected);
  if (result != RETURN_OK) {
    sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key "
                 << StarTracker::UploadCentroidKeys::x_uncorrected << " does not exist"
                 << std::endl;
    return result;
  }
  result = j.getValue(StarTracker::UploadCentroidKeys::y_uncorrected, &req.y_uncorrected);
  if (result != RETURN_OK) {
    sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key "
                 << StarTracker::UploadCentroidKeys::y_uncorrected << " does not exist"
                 << std::endl;
    return result;
  }
  result = j.getValue(StarTracker::UploadCentroidKeys::x_corrected, &req.x_corrected);
  if (result != RETURN_OK) {
    sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key "
                 << StarTracker::UploadCentroidKeys::x_corrected << " does not exist" << std::endl;
    return result;
  }
  result = j.getValue(StarTracker::UploadCentroidKeys::y_corrected, &req.y_corrected);
  if (result != RETURN_OK) {
    sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key "
                 << StarTracker::UploadCentroidKeys::y_corrected << " does not exist" << std::endl;
    return result;
  }
  result = j.getValue(StarTracker::UploadCentroidKeys::magnitude, &req.magnitude);
  if (result != RETURN_OK) {
    sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key "
                 << StarTracker::UploadCentroidKeys::magnitude << " does not exist" << std::endl;
    return result;
  }
  result = j.getValue(StarTracker::UploadCentroidKeys::cxa, &req.cxa);
  if (result != RETURN_OK) {
    sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key "
                 << StarTracker::UploadCentroidKeys::cxa << " does not exist" << std::endl;
    return result;
  }
  result = j.getValue(StarTracker::UploadCentroidKeys::cya, &req.cya);
  if (result != RETURN_OK) {
    sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key "
                 << StarTracker::UploadCentroidKeys::cya << " does not exist" << std::endl;
    return result;
  }
  result = j.getValue(StarTracker::UploadCentroidKeys::quality, &req.quality);
  if (result != RETURN_OK) {
    sif::warning << "StarTrackerHandler::prepareUploadCentroidCommand: The key "
                 << StarTracker::UploadCentroidKeys::quality << " does not exist" << std::endl;
    return result;
  }
  uint32_t length = 0;
  arc_pack_uploadcentroid_action_req(&req, commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
  uploadCentroid.rememberId = req.id;
  return result;
}

void StarTrackerHandler::prepareTimeRequest() {
  uint32_t length = 0;
  arc_tm_pack_time_req(commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
}

void StarTrackerHandler::preparePingRequest() {
  uint32_t length = 0;
  struct PingActionRequest pingRequest = {PING_ID};
  arc_pack_ping_action_req(&pingRequest, commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
}

void StarTrackerHandler::prepareVersionRequest() {
  uint32_t length = 0;
  arc_tm_pack_version_req(commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
}

void StarTrackerHandler::prepareInterfaceRequest() {
  uint32_t length = 0;
  arc_tm_pack_interface_req(commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
}

void StarTrackerHandler::preparePowerRequest() {
  uint32_t length = 0;
  arc_tm_pack_power_req(commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
}

void StarTrackerHandler::prepareRebootCommand() {
  uint32_t length = 0;
  struct RebootActionRequest rebootReq;
  arc_pack_reboot_action_req(&rebootReq, commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
}

void StarTrackerHandler::prepareTakeImageCommand(const uint8_t* commandData) {
  uint32_t length = 0;
  struct CameraActionRequest camReq;
  camReq.actionid = *commandData;
  arc_pack_camera_action_req(&camReq, commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
}

void StarTrackerHandler::prepareSubscriptionCommand(const uint8_t* tmId) {
  uint32_t length = 18;
  commandBuffer[0] = TMTC_SETPARAMREQ;
  commandBuffer[1] = StarTracker::ID::SUBSCRIBE;
  // Fill all other fields with invalid tm id
  commandBuffer[2] = *tmId;
  commandBuffer[3] = 0;
  commandBuffer[4] = 0;
  commandBuffer[5] = 0;
  commandBuffer[6] = 0;
  commandBuffer[7] = 0;
  commandBuffer[8] = 0;
  commandBuffer[9] = 0;
  commandBuffer[10] = 0;
  commandBuffer[11] = 0;
  commandBuffer[12] = 0;
  commandBuffer[13] = 0;
  commandBuffer[14] = 0;
  commandBuffer[15] = 0;
  commandBuffer[16] = 0;
  commandBuffer[17] = 0;
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
}

void StarTrackerHandler::prepareSolutionRequest() {
  uint32_t length = 0;
  arc_tm_pack_solution_req(commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
}

void StarTrackerHandler::prepareTemperatureRequest() {
  uint32_t length = 0;
  arc_tm_pack_temperature_req(commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
}

void StarTrackerHandler::prepareHistogramRequest() {
  uint32_t length = 0;
  arc_tm_pack_histogram_req(commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
}

void StarTrackerHandler::prepareContrastRequest() {
  uint32_t length = 0;
  arc_tm_pack_contrast_req(commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
}

void StarTrackerHandler::prepareErrorResetRequest() {
  uint32_t length = 0;
  struct ResetErrorSignalActionRequest req;
  arc_pack_reseterrorsignal_action_req(&req, commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
}

ReturnValue_t StarTrackerHandler::prepareParamCommand(const uint8_t* commandData,
                                                      size_t commandDataLen,
                                                      ArcsecJsonParamBase& paramSet) {
  ReturnValue_t result = RETURN_OK;
  if (commandDataLen > MAX_PATH_SIZE) {
    return FILE_PATH_TOO_LONG;
  }
  std::string fullName(reinterpret_cast<const char*>(commandData), commandDataLen);

  result = paramSet.create(fullName, commandBuffer);
  if (result != RETURN_OK) {
    sif::warning << "StarTrackerHandler::prepareParamCommand: Failed to create parameter "
                    "command"
                 << std::endl;
    return result;
  }
  dataLinkLayer.encodeFrame(commandBuffer, paramSet.getSize());
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
  return RETURN_OK;
}

ReturnValue_t StarTrackerHandler::prepareDownloadMatchedStarCommand(const uint8_t* commandData,
                                                                    size_t commandDataLen) {
  if (commandDataLen != DownloadMatchedStarCmd::LENGTH) {
    return INVALID_LENGTH;
  }
  struct DownloadMatchedStarActionRequest req;
  req.id = *commandData;
  uint32_t length = 0;
  arc_pack_downloadmatchedstar_action_req(&req, commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
  return RETURN_OK;
}

ReturnValue_t StarTrackerHandler::prepareDownloadDbImageCommand(const uint8_t* commandData,
                                                                size_t commandDataLen) {
  if (commandDataLen != DownloadDbImageCmd::LENGTH) {
    return INVALID_LENGTH;
  }
  struct DownloadDBImageActionRequest req;
  req.id = *commandData;
  uint32_t length = 0;
  arc_pack_downloaddbimage_action_req(&req, commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
  return RETURN_OK;
}

ReturnValue_t StarTrackerHandler::prepareDownloadBlobPixelCommand(const uint8_t* commandData,
                                                                  size_t commandDataLen) {
  if (commandDataLen != DownloadBlobPixCmd::LENGTH) {
    return INVALID_LENGTH;
  }
  struct DownloadBlobPixelActionRequest req;
  req.id = *commandData;
  req.type = *(commandData + 1);
  if ((req.type != DownloadBlobPixCmd::NORMAL) && (req.type != DownloadBlobPixCmd::FAST)) {
    return INVALID_TYPE;
  }
  uint32_t length = 0;
  arc_pack_downloadblobpixel_action_req(&req, commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
  return RETURN_OK;
}

ReturnValue_t StarTrackerHandler::prepareFpgaActionCommand(const uint8_t* commandData,
                                                           size_t commandDataLen) {
  if (commandDataLen != FpgaActionCmd::LENGTH) {
    return INVALID_LENGTH;
  }
  struct FPGAActionActionRequest req;
  req.id = *commandData;
  if (req.id != FpgaActionCmd::ID) {
    return INVALID_ID;
  }
  uint32_t length = 0;
  arc_pack_fpgaaction_action_req(&req, commandBuffer, &length);
  dataLinkLayer.encodeFrame(commandBuffer, length);
  rawPacket = dataLinkLayer.getEncodedFrame();
  rawPacketLen = dataLinkLayer.getEncodedLength();
  return RETURN_OK;
}

ReturnValue_t StarTrackerHandler::handleSetParamReply() {
  const uint8_t* reply = dataLinkLayer.getReply();
  uint8_t status = *(reply + STATUS_OFFSET);
  if (status != StarTracker::STATUS_OK) {
    sif::warning << "StarTrackerHandler::handleSetParamReply: Failed to execute parameter set "
                    " command with parameter ID"
                 << static_cast<unsigned int>(*(reply + PARAMETER_ID_OFFSET)) << std::endl;
    if (startupState != StartupState::IDLE) {
      startupState = StartupState::IDLE;
    }
    return SET_PARAM_FAILED;
  }
  if (startupState != StartupState::IDLE) {
    handleStartup(reply + PARAMETER_ID_OFFSET);
  }
  return RETURN_OK;
}

ReturnValue_t StarTrackerHandler::handleActionReply() {
  const uint8_t* reply = dataLinkLayer.getReply();
  uint8_t status = *(reply + STATUS_OFFSET);
  if (status != StarTracker::STATUS_OK) {
    sif::warning << "StarTrackerHandler::handleActionReply: Failed to execute action "
                 << "command with action ID "
                 << static_cast<unsigned int>(*(reply + ACTION_ID_OFFSET)) << " and status "
                 << static_cast<unsigned int>(status) << std::endl;
    return ACTION_FAILED;
  }
  return RETURN_OK;
}

ReturnValue_t StarTrackerHandler::handleUploadCentroidReply() {
  ReturnValue_t result = RETURN_OK;
  result = handleActionReply();
  if (result != RETURN_OK) {
    return result;
  }
  const uint8_t* reply = dataLinkLayer.getReply();
  if (*(reply + ACTION_DATA_OFFSET) != uploadCentroid.rememberId) {
    return UPLOAD_CENTROID_ID_MISMATCH;
  }
  return RETURN_OK;
}

ReturnValue_t StarTrackerHandler::handleEraseReply() {
  ReturnValue_t result = RETURN_OK;
  result = handleActionReply();
  if (result != RETURN_OK) {
    return result;
  }
  const uint8_t* replyData = dataLinkLayer.getReply() + ACTION_DATA_OFFSET;
  StarTracker::EraseReply eraseReply(replyData);
  if (eraseReply.getRegion() != eraseCmd.rememberRegion) {
    sif::warning << "StarTrackerHandler::handleEraseReply: Region mismatch" << std::endl;
    return REGION_MISMATCH;
  }
  return result;
}

ReturnValue_t StarTrackerHandler::handleChecksumReply() {
  ReturnValue_t result = RETURN_OK;
  result = handleActionReply();
  if (result != RETURN_OK) {
    return result;
  }
  const uint8_t* replyData = dataLinkLayer.getReply() + ACTION_DATA_OFFSET;
  StarTracker::ChecksumReply checksumReply(replyData);
  if (checksumReply.getRegion() != checksumCmd.rememberRegion) {
    sif::warning << "StarTrackerHandler::handleChecksumReply: Region mismatch" << std::endl;
    return REGION_MISMATCH;
  }
  if (checksumReply.getAddress() != checksumCmd.rememberAddress) {
    sif::warning << "StarTrackerHandler::handleChecksumReply: Address mismatch" << std::endl;
    return ADDRESS_MISMATCH;
  }
  if (checksumReply.getLength() != checksumCmd.rememberLength) {
    sif::warning << "StarTrackerHandler::handleChecksumReply: Length mismatch" << std::endl;
    return LENGTH_MISSMATCH;
  }
  PoolReadGuard rg(&checksumSet);
  checksumSet.checksum = checksumReply.getChecksum();
  handleDeviceTM(&checksumSet, StarTracker::CHECKSUM);
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
  checksumReply.printChecksum();
#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */
  return RETURN_OK;
}

ReturnValue_t StarTrackerHandler::handlePingReply() {
  ReturnValue_t result = RETURN_OK;
  uint32_t pingId = 0;
  const uint8_t* reply = dataLinkLayer.getReply();
  uint8_t status = dataLinkLayer.getStatusField();
  const uint8_t* buffer = reply + ACTION_DATA_OFFSET;
  size_t size = sizeof(pingId);
  SerializeAdapter::deSerialize(&pingId, &buffer, &size, SerializeIF::Endianness::LITTLE);
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
  sif::info << "StarTracker: Ping status: " << static_cast<unsigned int>(status) << std::endl;
  sif::info << "Ping id: 0x" << std::hex << pingId << std::endl;
#endif /* OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1 */
  if (status != StarTracker::STATUS_OK || pingId != PING_ID) {
    sif::warning << "StarTrackerHandler::handlePingReply: Ping failed" << std::endl;
    result = PING_FAILED;
  } else {
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
    sif::info << "StarTracker: Ping successful" << std::endl;
#endif
  }
  return result;
}

ReturnValue_t StarTrackerHandler::checkProgram() {
  PoolReadGuard pg(&versionSet);
  switch (versionSet.program.value) {
    case StarTracker::Program::BOOTLOADER:
      // Star tracker currently in bootloader program. Need to send boot command to switch to
      // firmware program
      if (startupState != StartupState::IDLE) {
        startupState = StartupState::BOOT;
      }
      break;
    case StarTracker::Program::FIRMWARE:
      // Firmware already booted
      if (startupState != StartupState::IDLE) {
        startupState = StartupState::LIMITS;
      }
      break;
    default:
      sif::warning << "StarTrackerHandler::checkProgram: Version set has invalid program ID"
                   << std::endl;
      return INVALID_PROGRAM;
  }
  return RETURN_OK;
}

ReturnValue_t StarTrackerHandler::handleTm(LocalPoolDataSetBase& dataset, size_t size) {
  ReturnValue_t result = RETURN_OK;
  uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET);
  if (status != StarTracker::STATUS_OK) {
    sif::warning << "StarTrackerHandler::handleTm: Reply error: "
                 << static_cast<unsigned int>(status) << std::endl;
    return REPLY_ERROR;
  }
  result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
  if (result != RETURN_OK) {
    return result;
  }
  const uint8_t* reply = dataLinkLayer.getReply() + TICKS_OFFSET;
  dataset.setValidityBufferGeneration(false);
  result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
  if (result != RETURN_OK) {
    sif::warning << "StarTrackerHandler::handleTm: Deserialization failed" << std::endl;
  }
  dataset.setValidityBufferGeneration(true);
  dataset.setValidity(true, true);
  result = dataset.commit(TIMEOUT_TYPE, MUTEX_TIMEOUT);
  if (result != RETURN_OK) {
    return result;
  }
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
  dataset.printSet();
#endif
  return result;
}

ReturnValue_t StarTrackerHandler::handleActionReplySet(LocalPoolDataSetBase& dataset, size_t size) {
  ReturnValue_t result = RETURN_OK;
  uint8_t status = *(dataLinkLayer.getReply() + STATUS_OFFSET);
  if (status != StarTracker::STATUS_OK) {
    sif::warning << "StarTrackerHandler::handleActionReplySet: Reply error: "
                 << static_cast<unsigned int>(status) << std::endl;
    return REPLY_ERROR;
  }
  result = dataset.read(TIMEOUT_TYPE, MUTEX_TIMEOUT);
  if (result != RETURN_OK) {
    return result;
  }
  const uint8_t* reply = dataLinkLayer.getReply() + ACTION_DATA_OFFSET;
  dataset.setValidityBufferGeneration(false);
  result = dataset.deSerialize(&reply, &size, SerializeIF::Endianness::LITTLE);
  if (result != RETURN_OK) {
    sif::warning << "StarTrackerHandler::handleActionReplySet Deserialization failed" << std::endl;
  }
  dataset.setValidityBufferGeneration(true);
  dataset.setValidity(true, true);
  result = dataset.commit(TIMEOUT_TYPE, MUTEX_TIMEOUT);
  if (result != RETURN_OK) {
    return result;
  }
#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_STARTRACKER == 1
  dataset.printSet();
#endif
  return result;
}

void StarTrackerHandler::handleStartup(const uint8_t* parameterId) {
  switch (*parameterId) {
    case (StarTracker::ID::LIMITS): {
      startupState = StartupState::TRACKING;
      break;
    }
    case (StarTracker::ID::TRACKING): {
      startupState = StartupState::MOUNTING;
      break;
    }
    case (StarTracker::ID::MOUNTING): {
      startupState = StartupState::CAMERA;
      break;
    }
    case (StarTracker::ID::CAMERA): {
      startupState = StartupState::BLOB;
      break;
    }
    case (StarTracker::ID::BLOB): {
      startupState = StartupState::CENTROIDING;
      break;
    }
    case (StarTracker::ID::CENTROIDING): {
      startupState = StartupState::LISA;
      break;
    }
    case (StarTracker::ID::LISA): {
      startupState = StartupState::MATCHING;
      break;
    }
    case (StarTracker::ID::MATCHING): {
      startupState = StartupState::VALIDATION;
      break;
    }
    case (StarTracker::ID::VALIDATION): {
      startupState = StartupState::ALGO;
      break;
    }
    case (StarTracker::ID::ALGO): {
      startupState = StartupState::DONE;
      break;
    }
    default: {
      sif::debug << "StarTrackerHandler::handleStartup: Received parameter reply with unexpected"
                 << " parameter ID" << std::endl;
      break;
    }
  }
}