eive-obsw/linux/payload/FreshMpsocHandler.cpp

#include "FreshMpsocHandler.h"

#include "OBSWConfig.h"
#include "eive/objects.h"
#include "fsfw/action/CommandActionHelper.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "fsfw/devicehandlers/DeviceHandlerIF.h"
#include "fsfw/devicehandlers/FreshDeviceHandlerBase.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/ipc/messageQueueDefinitions.h"
#include "fsfw/power/PowerSwitchIF.h"
#include "fsfw/power/definitions.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/serialize/SerializeAdapter.h"
#include "linux/payload/MpsocCommunication.h"
#include "linux/payload/plocMpsocHelpers.h"
#include "linux/payload/plocSupvDefs.h"
#include "mission/power/gsDefs.h"

FreshMpsocHandler::FreshMpsocHandler(DhbConfig cfg, MpsocCommunication& comInterface,
                                     PlocMpsocSpecialComHelper& specialComHelper,
                                     Gpio uartIsolatorSwitch, object_id_t supervisorHandler,
                                     PowerSwitchIF& powerSwitcher, power::Switch_t camSwitchId)
    : FreshDeviceHandlerBase(cfg),
      comInterface(comInterface),
      specialComHelper(specialComHelper),
      commandActionHelper(this),
      uartIsolatorSwitch(uartIsolatorSwitch),
      hkReport(this),
      supervisorHandler(supervisorHandler),
      powerSwitcher(powerSwitcher),
      camSwitchId(camSwitchId) {
  commandActionHelperQueue = QueueFactory::instance()->createMessageQueue(10);
  eventQueue = QueueFactory::instance()->createMessageQueue(10);
  spParams.maxSize = sizeof(commandBuffer);
  spParams.buf = commandBuffer;
}

void FreshMpsocHandler::performDeviceOperation(uint8_t opCode) {
  if (transitionState == TransitionState::NONE and (mode == MODE_OFF or mode == MODE_UNDEFINED)) {
    // Nothing to do for now.
    return;
  }

  if (opCode == OpCode::DEFAULT_OPERATION) {
    performDefaultDeviceOperation();
  } else if (opCode == OpCode::PARSE_TM and not specialComHelperExecuting) {
    // Just need to call this once, this should take care of processing the whole received
    // Linux UART RX buffer.
    comInterface.readSerialInterface();
    // Handle all received packets.
    while (true) {
      ReturnValue_t result = comInterface.parseAndRetrieveNextPacket();
      if (result == MpsocCommunication::PACKET_RECEIVED) {
        handleDeviceReply();
        continue;
      }
      break;
    }
  }
}

void FreshMpsocHandler::performDefaultDeviceOperation() {
  if (transitionState != TransitionState::NONE) {
    if (transitionState == TransitionState::TO_ON) {
      handleTransitionToOn();
    } else if (transitionState == TransitionState::TO_OFF) {
      handleTransitionToOff();
    } else if (transitionState == TransitionState::SUBMODE) {
      if (!activeCmdInfo.pending) {
        commandSubmodeTransition();
      }
    } else {
      // This should never happen.
      sif::error << "FreshMpsocHandler: Invalid transition mode: " << targetMode << std::endl;
      targetMode = MODE_OFF;
      targetSubmode = 0;
      handleTransitionToOff();
    }
    if (modeHelper.isTimedOut()) {
      // Set old mode and submode.
      setMode(mode, submode);
    }
  }

  // We checked the action queue beforehand, so action commands should always be performed
  // before normal commands.
  if (mode == MODE_NORMAL and not activeCmdInfo.pending and not specialComHelperExecuting) {
    ReturnValue_t result = commandTcGetHkReport();
    if (result == returnvalue::OK) {
      commandInitHandling(mpsoc::TC_GET_HK_REPORT, MessageQueueIF::NO_QUEUE);
    }
  }

  if (activeCmdInfo.pending and activeCmdInfo.cmdCountdown.hasTimedOut()) {
    sif::warning << "PlocMpsocHandler: Command " << activeCmdInfo.pendingCmd << " has timed out"
                 << std::endl;
    cmdDoneHandler(false, mpsoc::COMMAND_TIMEOUT);
  }
  EventMessage event;
  for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
       result = eventQueue->receiveMessage(&event)) {
    switch (event.getMessageId()) {
      case EventMessage::EVENT_MESSAGE:
        handleEvent(&event);
        break;
      default:
        sif::debug << "PlocMPSoCHandler::performOperationHook: Did not subscribe to this event"
                   << " message" << std::endl;
        break;
    }
  }
  CommandMessage message;
  for (ReturnValue_t result = commandActionHelperQueue->receiveMessage(&message);
       result == returnvalue::OK; result = commandActionHelperQueue->receiveMessage(&message)) {
    result = commandActionHelper.handleReply(&message);
    if (result == returnvalue::OK) {
      continue;
    }
  }
}

ReturnValue_t FreshMpsocHandler::handleCommandMessage(CommandMessage* message) {
  return returnvalue::FAILED;
}

ReturnValue_t FreshMpsocHandler::initialize() {
  ReturnValue_t result = FreshDeviceHandlerBase::initialize();
  if (result != returnvalue::OK) {
    return result;
  }
  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
  if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "PlocMPSoCHandler::initialize: Invalid event manager" << std::endl;
#endif
    return ObjectManagerIF::CHILD_INIT_FAILED;
    ;
  }
  result = manager->registerListener(eventQueue->getId());
  if (result != returnvalue::OK) {
    return result;
  }
  result = manager->subscribeToEvent(
      eventQueue->getId(), event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_WRITE_FAILED));
  if (result != returnvalue::OK) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }
  result = manager->subscribeToEvent(
      eventQueue->getId(),
      event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_WRITE_SUCCESSFUL));
  if (result != returnvalue::OK) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }
  result = manager->subscribeToEvent(
      eventQueue->getId(),
      event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_READ_SUCCESSFUL));
  if (result != returnvalue::OK) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }
  result = manager->subscribeToEvent(
      eventQueue->getId(), event::getEventId(PlocMpsocSpecialComHelper::MPSOC_FLASH_READ_FAILED));
  if (result != returnvalue::OK) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }

  result = commandActionHelper.initialize();
  if (result != returnvalue::OK) {
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }
  return result;
}

// HK manager abstract functions.
LocalPoolDataSetBase* FreshMpsocHandler::getDataSetHandle(sid_t sid) {
  if (sid == hkReport.getSid()) {
    return &hkReport;
  }
  return nullptr;
}

ReturnValue_t FreshMpsocHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                         LocalDataPoolManager& poolManager) {
  localDataPoolMap.emplace(mpsoc::poolid::STATUS, &peStatus);
  localDataPoolMap.emplace(mpsoc::poolid::MODE, &peMode);
  localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_PWR_ON, &peDownlinkPwrOn);
  localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_REPLY_ACTIIVE, &peDownlinkReplyActive);
  localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_JESD_SYNC_STATUS, &peDownlinkJesdSyncStatus);
  localDataPoolMap.emplace(mpsoc::poolid::DOWNLINK_DAC_STATUS, &peDownlinkDacStatus);
  localDataPoolMap.emplace(mpsoc::poolid::CAM_STATUS, &peCameraStatus);
  localDataPoolMap.emplace(mpsoc::poolid::CAM_SDI_STATUS, &peCameraSdiStatus);
  localDataPoolMap.emplace(mpsoc::poolid::CAM_FPGA_TEMP, &peCameraFpgaTemp);
  localDataPoolMap.emplace(mpsoc::poolid::CAM_SOC_TEMP, &peCameraSocTemp);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_TEMP, &peSysmonTemp);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCINT, &peSysmonVccInt);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCAUX, &peSysmonVccAux);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCBRAM, &peSysmonVccBram);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCPAUX, &peSysmonVccPaux);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCPINT, &peSysmonVccPint);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCCPDRO, &peSysmonVccPdro);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_MB12V, &peSysmonMb12V);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_MB3V3, &peSysmonMb3V3);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_MB1V8, &peSysmonMb1V8);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC12V, &peSysmonVcc12V);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC5V, &peSysmonVcc5V);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC3V3, &peSysmonVcc3V3);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC3V3VA, &peSysmonVcc3V3VA);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC2V5DDR, &peSysmonVcc2V5DDR);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC1V2DDR, &peSysmonVcc1V2DDR);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC0V9, &peSysmonVcc0V9);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_VCC0V6VTT, &peSysmonVcc0V6VTT);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_SAFE_COTS_CUR, &peSysmonSafeCotsCur);
  localDataPoolMap.emplace(mpsoc::poolid::SYSMON_NVM4_XO_CUR, &peSysmonNvm4XoCur);
  localDataPoolMap.emplace(mpsoc::poolid::SEM_UNCORRECTABLE_ERRS, &peSemUncorrectableErrs);
  localDataPoolMap.emplace(mpsoc::poolid::SEM_CORRECTABLE_ERRS, &peSemCorrectableErrs);
  localDataPoolMap.emplace(mpsoc::poolid::SEM_STATUS, &peSemStatus);
  localDataPoolMap.emplace(mpsoc::poolid::REBOOT_MPSOC_REQUIRED, &peRebootMpsocRequired);
  poolManager.subscribeForRegularPeriodicPacket(
      subdp::RegularHkPeriodicParams(hkReport.getSid(), false, 10.0));
  return returnvalue::OK;
}

// Mode abstract functions
ReturnValue_t FreshMpsocHandler::checkModeCommand(Mode_t mode, Submode_t submode,
                                                  uint32_t* msToReachTheMode) {
  if (this->mode == MODE_OFF or this->mode == MODE_UNDEFINED) {
    // Device needs to be commanded to ON or NORMAL first before commanding submode.
    if (submode != mpsoc::Submode::IDLE_OR_NONE) {
      return HasModesIF::INVALID_SUBMODE;
    }
  }
  if (mode == MODE_ON or mode == MODE_NORMAL) {
    if (submode != mpsoc::Submode::IDLE_OR_NONE && submode != mpsoc::Submode::REPLAY &&
        submode != mpsoc::Submode::SNAPSHOT) {
      return HasModesIF::INVALID_SUBMODE;
    }
  }
  if (submode == mpsoc::Submode::SNAPSHOT and
      powerSwitcher.getSwitchState(camSwitchId) != PowerSwitchIF::SWITCH_ON) {
    triggerEvent(mpsoc::CAM_MUST_BE_ON_FOR_SNAPSHOT_MODE);
    return HasModesIF::TRANS_NOT_ALLOWED;
  }
  *msToReachTheMode = MPSOC_MODE_CMD_TIMEOUT_MS;
  return returnvalue::OK;
}

// Action override. Forward to user.
ReturnValue_t FreshMpsocHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                               const uint8_t* data, size_t size) {
  ReturnValue_t result = returnvalue::OK;
  switch (actionId) {
    case mpsoc::SET_UART_TX_TRISTATE: {
      uartIsolatorSwitch.pullLow();
      return EXECUTION_FINISHED;
      break;
    }
    case mpsoc::RELEASE_UART_TX: {
      uartIsolatorSwitch.pullHigh();
      return EXECUTION_FINISHED;
      break;
      default:
        break;
    }
  }

  if (specialComHelperExecuting) {
    return mpsoc::MPSOC_HELPER_EXECUTING;
  }

  // We do not accept the rest of the commands if we are not on.
  if (mode != MODE_ON && mode != MODE_NORMAL) {
    return HasModesIF::INVALID_MODE;
  }

  switch (actionId) {
    case mpsoc::TC_FLASH_WRITE_FULL_FILE: {
      mpsoc::FlashBasePusCmd flashWritePusCmd;
      result = flashWritePusCmd.extractFields(data, size);
      if (result != returnvalue::OK) {
        return result;
      }
      result = specialComHelper.startFlashWrite(flashWritePusCmd.getObcFile(),
                                                flashWritePusCmd.getMpsocFile());
      if (result != returnvalue::OK) {
        return result;
      }
      commonSpecialComInit();
      return EXECUTION_FINISHED;
    }
    case mpsoc::TC_FLASH_READ_FULL_FILE: {
      mpsoc::FlashReadPusCmd flashReadPusCmd;
      result = flashReadPusCmd.extractFields(data, size);
      if (result != returnvalue::OK) {
        return result;
      }
      result = specialComHelper.startFlashRead(flashReadPusCmd.getObcFile(),
                                               flashReadPusCmd.getMpsocFile(),
                                               flashReadPusCmd.getReadSize());
      if (result != returnvalue::OK) {
        return result;
      }
      sif::info << "PLOC MPSoC: Reading " << flashReadPusCmd.getMpsocFile() << " with size "
                << flashReadPusCmd.getReadSize() << " to " << flashReadPusCmd.getObcFile()
                << std::endl;
      commonSpecialComInit();
      return EXECUTION_FINISHED;
    }
    case (mpsoc::OBSW_RESET_SEQ_COUNT_LEGACY): {
      commandSequenceCount = 0;
      return EXECUTION_FINISHED;
    }
    default:
      break;
  }
  executeRegularCmd(actionId, commandedBy, data, size);
  return returnvalue::OK;
}

void FreshMpsocHandler::commonSpecialComInit() {
  specialComHelperExecuting = true;
  specialComHelper.setCommandSequenceCount(commandSequenceCount.get());
}

/**
 * @overload
 * @param submode
 */
void FreshMpsocHandler::startTransition(Mode_t newMode, Submode_t submode) {
  // OFF commands are always accepted. Otherwise, ignore transition requests.
  if (transitionState != TransitionState::NONE && newMode != HasModesIF::MODE_OFF) {
    return;
  }
  // We are already on and only a submode change is commanded.
  if ((mode == MODE_ON or mode == MODE_NORMAL) && (newMode == MODE_ON or newMode == MODE_NORMAL)) {
    transitionState = TransitionState::SUBMODE;
  } else if ((newMode == MODE_ON or newMode == MODE_NORMAL) &&
             ((mode == MODE_OFF) or (mode == MODE_UNDEFINED))) {
    transitionState = TransitionState::TO_ON;
  } else if (mode == MODE_ON && newMode == MODE_NORMAL) {
    hkReport.setReportingEnabled(true);
  } else if (mode == MODE_NORMAL && newMode == MODE_ON) {
    hkReport.setReportingEnabled(false);
  } else if (newMode == MODE_OFF) {
    transitionState = TransitionState::TO_OFF;
  }
  targetMode = newMode;
  targetSubmode = submode;
}

ReturnValue_t FreshMpsocHandler::performDeviceOperationPreQueueHandling(uint8_t opCode) {
  return returnvalue::OK;
}

void FreshMpsocHandler::commandSubmodeTransition() {
  if (targetSubmode == mpsoc::Submode::IDLE_OR_NONE) {
    commandTcModeIdle();
  } else if (targetSubmode == mpsoc::Submode::SNAPSHOT) {
    commandTcModeSnapshot();
  } else if (targetSubmode == mpsoc::Submode::REPLAY) {
    commandTcModeReplay();
  } else {
    sif::error << "FreshMpsocHandler::handleTransitionToOn: Invalid submode" << std::endl;
  }
}

void FreshMpsocHandler::handleTransitionToOn() {
  if (startupState == StartupState::IDLE) {
    startupState = StartupState::HW_INIT;
  }
  if (startupState == StartupState::HW_INIT) {
    if (handleHwStartup()) {
      startupState = StartupState::DONE;
    }
  }
  if (startupState == StartupState::DONE) {
    setMode(targetMode, targetSubmode);
    transitionState = TransitionState::NONE;
    if (targetMode == MODE_NORMAL) {
      hkReport.setReportingEnabled(true);
    }
    powerState = PowerState::IDLE;
    startupState = StartupState::IDLE;
  }
}

void FreshMpsocHandler::handleTransitionToOff() {
  if (handleHwShutdown()) {
    hkReport.setReportingEnabled(false);
    setMode(MODE_OFF, 0);
    transitionState = TransitionState::NONE;
    activeCmdInfo.reset();
    powerState = PowerState::IDLE;
    startupState = StartupState::IDLE;
  }
}

MessageQueueIF* FreshMpsocHandler::getCommandQueuePtr() { return commandActionHelperQueue; }

void FreshMpsocHandler::stepSuccessfulReceived(ActionId_t actionId, uint8_t step) { return; }

void FreshMpsocHandler::stepFailedReceived(ActionId_t actionId, uint8_t step,
                                           ReturnValue_t returnCode) {
  switch (actionId) {
    case supv::START_MPSOC: {
      sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to start MPSoC" << std::endl;
      break;
    }
    case supv::SHUTDOWN_MPSOC: {
      triggerEvent(mpsoc::MPSOC_SHUTDOWN_FAILED);
      sif::warning << "PlocMPSoCHandler::stepFailedReceived: Failed to shutdown MPSoC" << std::endl;
      break;
    }
    default:
      sif::debug << "PlocMPSoCHandler::stepFailedReceived: Received unexpected action reply"
                 << std::endl;
      break;
  }
  powerState = PowerState::SUPV_FAILED;
}

void FreshMpsocHandler::dataReceived(ActionId_t actionId, const uint8_t* data, uint32_t size) {
  return;
}

void FreshMpsocHandler::completionSuccessfulReceived(ActionId_t actionId) {
  switch (powerState) {
    case PowerState::PENDING_STARTUP: {
      if (actionId != supv::START_MPSOC) {
        return;
      }
      mpsocBootTransitionCd.resetTimer();
      powerState = PowerState::DONE;
      break;
    }
    case PowerState::PENDING_SHUTDOWN: {
      if (actionId != supv::SHUTDOWN_MPSOC) {
        return;
      }
      powerState = PowerState::DONE;
      break;
    }
    default: {
      break;
    }
  }
}

void FreshMpsocHandler::completionFailedReceived(ActionId_t actionId, ReturnValue_t returnCode) {
  handleActionCommandFailure(actionId, returnCode);
}

void FreshMpsocHandler::handleActionCommandFailure(ActionId_t actionId, ReturnValue_t returnCode) {
  switch (powerState) {
    case PowerState::PENDING_STARTUP: {
      if (actionId != supv::START_MPSOC) {
        return;
      }
      sif::info << "FreshMpsocHandler::handleActionCommandFailure: MPSoC boot command failed"
                << std::endl;
      // This is commonly the case when the MPSoC is already operational. Thus the power state is
      // set to on here
      break;
    }
    case PowerState::PENDING_SHUTDOWN: {
      // FDIR will intercept event and switch PLOC power off
      triggerEvent(mpsoc::MPSOC_SHUTDOWN_FAILED);
      if (actionId != supv::SHUTDOWN_MPSOC) {
        return;
      }
      sif::warning << "PlocMPSoCHandler::handleActionCommandFailure: Failed to shutdown MPSoC"
                   << std::endl;
      break;
    }
    default:
      break;
  }
  powerState = PowerState::SUPV_FAILED;
  return;
}

ReturnValue_t FreshMpsocHandler::executeRegularCmd(ActionId_t actionId,
                                                   MessageQueueId_t commandedBy,
                                                   const uint8_t* commandData,
                                                   size_t commandDataLen) {
  ReturnValue_t result;
  switch (actionId) {
    case (mpsoc::TC_MEM_WRITE): {
      result = commandTcMemWrite(commandData, commandDataLen);
      break;
    }
    case (mpsoc::TC_VERIFY_BOOT): {
      uint8_t cmdDataForDeadbeefCheck[6]{};
      size_t serLen = 0;
      uint16_t wordLen = 1;
      SerializeAdapter::serialize(&mpsoc::DEADBEEF_ADDR, cmdDataForDeadbeefCheck, &serLen, 4,
                                  SerializeIF::Endianness::NETWORK);
      SerializeAdapter::serialize(&wordLen, cmdDataForDeadbeefCheck + 4, &serLen, 2,
                                  SerializeIF::Endianness::NETWORK);
      result = commandTcMemRead(cmdDataForDeadbeefCheck, 6);
      break;
    }
    case (mpsoc::TC_MEM_READ): {
      result = commandTcMemRead(commandData, commandDataLen);
      break;
    }
    case (mpsoc::TC_FLASHFOPEN): {
      mpsoc::TcFlashFopen cmd(spParams, commandSequenceCount);
      // C string constructor.
      std::string filename = std::string(reinterpret_cast<const char*>(commandData));
      if (filename.size() > mpsoc::MAX_FILENAME_SIZE) {
        return mpsoc::NAME_TOO_LONG;
      }
      uint8_t mode = commandData[filename.size() + 2];
      cmd.setPayload(filename, mode);
      result = finishAndSendTc(actionId, cmd);
      break;
    }
    case (mpsoc::TC_FLASHFCLOSE): {
      mpsoc::TcFlashFclose cmd(spParams, commandSequenceCount);
      result = finishAndSendTc(actionId, cmd);
      break;
    }
    case (mpsoc::TC_FLASHDELETE): {
      result = commandTcFlashDelete(commandData, commandDataLen);
      break;
    }
    case (mpsoc::TC_REPLAY_START): {
      result = commandTcReplayStart(commandData, commandDataLen);
      break;
    }
    case (mpsoc::TC_REPLAY_STOP): {
      result = commandTcReplayStop();
      break;
    }
    case (mpsoc::TC_DOWNLINK_PWR_ON): {
      result = commandTcDownlinkPwrOn(commandData, commandDataLen);
      break;
    }
    case (mpsoc::TC_DOWNLINK_PWR_OFF): {
      result = commandTcDownlinkPwrOff();
      break;
    }
    case (mpsoc::TC_REPLAY_WRITE_SEQUENCE): {
      result = commandTcReplayWriteSequence(commandData, commandDataLen);
      break;
    }
    case (mpsoc::TC_ENABLE_TC_EXECTION): {
      mpsoc::TcEnableTcExec cmd(spParams, commandSequenceCount);
      result = cmd.setPayload(commandData, commandDataLen);
      if (result != returnvalue::OK) {
        return result;
      }
      result = finishAndSendTc(actionId, cmd);
      break;
    }
    case (mpsoc::TC_FLASH_MKFS): {
      if (commandDataLen != 1) {
        return HasActionsIF::INVALID_PARAMETERS;
      }
      if (commandData[0] != mpsoc::FlashId::FLASH_0 && commandData[1] != mpsoc::FlashId::FLASH_1) {
        return HasActionsIF::INVALID_PARAMETERS;
      }
      mpsoc::TcFlashMkfs cmd(spParams, commandSequenceCount,
                             static_cast<mpsoc::FlashId>(commandData[0]));
      sif::info << "PLOC MPSoC: Formatting Flash " << (int)commandData[0] << std::endl;
      result = finishAndSendTc(actionId, cmd, mpsoc::CMD_TIMEOUT_MKFS);
      break;
    }
    case (mpsoc::TC_GET_HK_REPORT): {
      result = commandTcGetHkReport();
      break;
    }
    case (mpsoc::TC_FLASH_GET_DIRECTORY_CONTENT): {
      result = commandTcGetDirContent(commandData, commandDataLen);
      break;
    }
    case (mpsoc::TC_CAM_CMD_SEND): {
      result = commandTcCamCmdSend(commandData, commandDataLen);
      break;
    }
    case (mpsoc::TC_CAM_TAKE_PIC): {
      result = commandTcCamTakePic(commandData, commandDataLen);
      break;
    }
    case (mpsoc::TC_SIMPLEX_STREAM_FILE): {
      if (submode != mpsoc::Submode::SNAPSHOT) {
        return HasModesIF::INVALID_SUBMODE;
      }
      result = commandTcSimplexStreamFile(commandData, commandDataLen);
      break;
    }
    case (mpsoc::TC_SPLIT_FILE): {
      result = commandTcSplitFile(commandData, commandDataLen);
      break;
    }
    case (mpsoc::TC_DOWNLINK_DATA_MODULATE): {
      result = commandTcDownlinkDataModulate(commandData, commandDataLen);
      break;
    }
    default:
      sif::debug << "PlocMPSoCHandler::buildCommandFromCommand: Command not implemented"
                 << std::endl;
      result = DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
      break;
  }

  if (result == returnvalue::OK) {
    commandInitHandling(actionId, commandedBy);
  }

  return result;
}

void FreshMpsocHandler::commandInitHandling(ActionId_t actionId, MessageQueueId_t commandedBy) {
  activeCmdInfo.start(actionId, commandedBy);
  /**
   * Flushing the receive buffer to make sure there are no data left from a faulty reply.
   */
  comInterface.getComHelper().flushUartRxBuffer();
}

ReturnValue_t FreshMpsocHandler::commandTcMemWrite(const uint8_t* commandData,
                                                   size_t commandDataLen) {
  ReturnValue_t result = returnvalue::OK;
  mpsoc::TcMemWrite tcMemWrite(spParams, commandSequenceCount);
  result = tcMemWrite.setPayload(commandData, commandDataLen);
  if (result != returnvalue::OK) {
    return result;
  }
  finishAndSendTc(mpsoc::TC_MEM_WRITE, tcMemWrite);
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::commandTcMemRead(const uint8_t* commandData,
                                                  size_t commandDataLen) {
  ReturnValue_t result = returnvalue::OK;
  mpsoc::TcMemRead tcMemRead(spParams, commandSequenceCount);
  result = tcMemRead.setPayload(commandData, commandDataLen);
  if (result != returnvalue::OK) {
    return result;
  }
  finishAndSendTc(mpsoc::TC_MEM_READ, tcMemRead);
  tmMemReadReport.rememberRequestedSize = tcMemRead.getMemLen() * 4 + TmMemReadReport::FIX_SIZE;
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::commandTcFlashDelete(const uint8_t* commandData,
                                                      size_t commandDataLen) {
  if (commandDataLen > mpsoc::FILENAME_FIELD_SIZE) {
    return mpsoc::NAME_TOO_LONG;
  }
  ReturnValue_t result = returnvalue::OK;
  mpsoc::TcFlashDelete tcFlashDelete(spParams, commandSequenceCount);
  std::string filename = std::string(reinterpret_cast<const char*>(commandData), commandDataLen);
  result = tcFlashDelete.setPayload(filename);
  if (result != returnvalue::OK) {
    return result;
  }
  finishAndSendTc(mpsoc::TC_FLASHDELETE, tcFlashDelete);
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::commandTcReplayStart(const uint8_t* commandData,
                                                      size_t commandDataLen) {
  ReturnValue_t result = returnvalue::OK;
  mpsoc::TcReplayStart tcReplayStart(spParams, commandSequenceCount);
  result = tcReplayStart.setPayload(commandData, commandDataLen);
  if (result != returnvalue::OK) {
    return result;
  }
  finishAndSendTc(mpsoc::TC_REPLAY_START, tcReplayStart);
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::commandTcReplayStop() {
  mpsoc::TcReplayStop tcReplayStop(spParams, commandSequenceCount);
  finishAndSendTc(mpsoc::TC_REPLAY_STOP, tcReplayStop);
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::commandTcDownlinkPwrOn(const uint8_t* commandData,
                                                        size_t commandDataLen) {
  ReturnValue_t result = returnvalue::OK;
  mpsoc::TcDownlinkPwrOn tcDownlinkPwrOn(spParams, commandSequenceCount);
  result = tcDownlinkPwrOn.setPayload(commandData, commandDataLen);
  if (result != returnvalue::OK) {
    return result;
  }
  finishAndSendTc(mpsoc::TC_DOWNLINK_PWR_ON, tcDownlinkPwrOn);
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::commandTcDownlinkPwrOff() {
  mpsoc::TcDownlinkPwrOff tcDownlinkPwrOff(spParams, commandSequenceCount);
  finishAndSendTc(mpsoc::TC_DOWNLINK_PWR_OFF, tcDownlinkPwrOff);
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::commandTcGetHkReport() {
  mpsoc::TcGetHkReport tcGetHkReport(spParams, commandSequenceCount);
  finishAndSendTc(mpsoc::TC_GET_HK_REPORT, tcGetHkReport);
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::commandTcReplayWriteSequence(const uint8_t* commandData,
                                                              size_t commandDataLen) {
  mpsoc::TcReplayWriteSeq tcReplayWriteSeq(spParams, commandSequenceCount);
  ReturnValue_t result = tcReplayWriteSeq.setPayload(commandData, commandDataLen);
  if (result != returnvalue::OK) {
    return result;
  }
  finishAndSendTc(mpsoc::TC_REPLAY_WRITE_SEQUENCE, tcReplayWriteSeq);
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::commandTcModeReplay() {
  mpsoc::TcModeReplay tcModeReplay(spParams, commandSequenceCount);
  finishAndSendTc(mpsoc::TC_MODE_REPLAY, tcModeReplay);
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::commandTcModeIdle() {
  mpsoc::TcModeIdle tcModeIdle(spParams, commandSequenceCount);
  finishAndSendTc(mpsoc::TC_MODE_IDLE, tcModeIdle);
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::commandTcCamCmdSend(const uint8_t* commandData,
                                                     size_t commandDataLen) {
  mpsoc::TcCamcmdSend tcCamCmdSend(spParams, commandSequenceCount);
  ReturnValue_t result = tcCamCmdSend.setPayload(commandData, commandDataLen);
  if (result != returnvalue::OK) {
    return result;
  }
  finishAndSendTc(mpsoc::TC_CAM_CMD_SEND, tcCamCmdSend);
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::commandTcCamTakePic(const uint8_t* commandData,
                                                     size_t commandDataLen) {
  mpsoc::TcCamTakePic tcCamTakePic(spParams, commandSequenceCount);
  ReturnValue_t result = tcCamTakePic.setPayload(commandData, commandDataLen);
  if (result != returnvalue::OK) {
    return result;
  }
  sif::info << "PLOC MPSoC Take Picture Command" << std::endl;
  sif::info << "filename: " << tcCamTakePic.fileName << std::endl;
  sif::info << "encoder [Y, Cb, Cr]: [" << (int)tcCamTakePic.encoderSettingY << ", "
            << (int)tcCamTakePic.encoderSettingsCb << ", " << (int)tcCamTakePic.encoderSettingsCr
            << "]" << std::endl;
  sif::info << "quantization [Y, Cb, Cr]: [" << tcCamTakePic.quantizationY << ", "
            << tcCamTakePic.quantizationCb << ", " << tcCamTakePic.quantizationCr << "]"
            << std::endl;
  sif::info << "bypass compressor: " << (int)tcCamTakePic.bypassCompressor << std::endl;
  finishAndSendTc(mpsoc::TC_CAM_TAKE_PIC, tcCamTakePic);
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::commandTcSimplexStreamFile(const uint8_t* commandData,
                                                            size_t commandDataLen) {
  mpsoc::TcSimplexStreamFile tcSimplexStreamFile(spParams, commandSequenceCount);
  ReturnValue_t result = tcSimplexStreamFile.setPayload(commandData, commandDataLen);
  if (result != returnvalue::OK) {
    return result;
  }
  finishAndSendTc(mpsoc::TC_SIMPLEX_STREAM_FILE, tcSimplexStreamFile);
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::commandTcSplitFile(const uint8_t* commandData,
                                                    size_t commandDataLen) {
  mpsoc::TcSplitFile tcSplitFile(spParams, commandSequenceCount);
  ReturnValue_t result = tcSplitFile.setPayload(commandData, commandDataLen);
  if (result != returnvalue::OK) {
    return result;
  }
  finishAndSendTc(mpsoc::TC_SPLIT_FILE, tcSplitFile);
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::commandTcGetDirContent(const uint8_t* commandData,
                                                        size_t commandDataLen) {
  mpsoc::TcGetDirContent tcGetDirContent(spParams, commandSequenceCount);
  ReturnValue_t result = tcGetDirContent.setPayload(commandData, commandDataLen);
  if (result != returnvalue::OK) {
    return result;
  }
  finishAndSendTc(mpsoc::TC_FLASH_GET_DIRECTORY_CONTENT, tcGetDirContent);
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::commandTcDownlinkDataModulate(const uint8_t* commandData,
                                                               size_t commandDataLen) {
  mpsoc::TcDownlinkDataModulate tcDownlinkDataModulate(spParams, commandSequenceCount);
  ReturnValue_t result = tcDownlinkDataModulate.setPayload(commandData, commandDataLen);
  if (result != returnvalue::OK) {
    return result;
  }
  finishAndSendTc(mpsoc::TC_DOWNLINK_DATA_MODULATE, tcDownlinkDataModulate);
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::commandTcModeSnapshot() {
  mpsoc::TcModeSnapshot tcModeSnapshot(spParams, commandSequenceCount);
  finishAndSendTc(mpsoc::TC_MODE_SNAPSHOT, tcModeSnapshot);
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::finishAndSendTc(DeviceCommandId_t cmdId, mpsoc::TcBase& tcBase,
                                                 uint32_t cmdCountdownMs) {
  // Emit warning but still send command.
  if (specialComHelperExecuting) {
    sif::warning << "PLOC MPSoC: Sending command even though special COM helper is executing"
                 << std::endl;
  }
  ReturnValue_t result = tcBase.finishPacket();
  if (result != returnvalue::OK) {
    return result;
  }
  commandSequenceCount++;

  mpsoc::printTxPacket(tcBase);
  activeCmdInfo.cmdCountdown.setTimeout(cmdCountdownMs);
  activeCmdInfo.cmdCountdown.resetTimer();
  activeCmdInfo.pending = true;
  activeCmdInfo.pendingCmd = cmdId;
  activeCmdInfo.pendingCmdMpsocApid = tcBase.getApid();
  return comInterface.send(tcBase.getFullPacket(), tcBase.getFullPacketLen());
}

void FreshMpsocHandler::handleEvent(EventMessage* eventMessage) {
  object_id_t objectId = eventMessage->getReporter();
  switch (objectId) {
    case objects::PLOC_MPSOC_HELPER: {
      commonSpecialComStop();
      break;
    }
    default:
      sif::debug << "PlocMPSoCHandler::handleEvent: Did not subscribe to this event" << std::endl;
      break;
  }
}
void FreshMpsocHandler::commonSpecialComStop() {
  specialComHelperExecuting = false;
  commandSequenceCount.set(specialComHelper.getCommandSequenceCount());
}

void FreshMpsocHandler::cmdDoneHandler(bool success, ReturnValue_t result) {
  if (transitionState == TransitionState::SUBMODE) {
    if (success) {
      setMode(targetMode, targetSubmode);
    } else {
      // Keep the old submode.
      setMode(targetMode);
    }
    transitionState = TransitionState::NONE;
  }
  if (activeCmdInfo.pending && (activeCmdInfo.commandedBy != MessageQueueIF::NO_QUEUE)) {
    actionHelper.finish(success, activeCmdInfo.commandedBy, activeCmdInfo.pendingCmd, result);
  }
  activeCmdInfo.reset();
}

ReturnValue_t FreshMpsocHandler::handleDeviceReply() {
  ReturnValue_t result = returnvalue::OK;

  const auto& replyReader = comInterface.getSpReader();
  if (replyReader.isNull()) {
    return returnvalue::FAILED;
  }
  mpsoc::printRxPacket(replyReader);
  uint16_t apid = replyReader.getApid();

  switch (apid) {
    case (mpsoc::apid::ACK_SUCCESS):
      result = handleAckReport();
      break;
    case (mpsoc::apid::ACK_FAILURE):
      break;
    case (mpsoc::apid::TM_MEMORY_READ_REPORT):
      if (activeCmdInfo.pendingCmd == mpsoc::TC_VERIFY_BOOT) {
        // 6 byte header, 4 byte address, 2 byte read width, 4 byte read back value
        if (replyReader.getFullPacketLen() >= 6 + 4 + 2 + 4) {
          uint32_t readBack = 0;
          size_t deserLen = 0;
          result = SerializeAdapter::deSerialize(&readBack, replyReader.getFullData() + 6 + 4 + 2,
                                                 &deserLen, SerializeIF::Endianness::NETWORK);
          if (result != returnvalue::OK or readBack != mpsoc::DEADBEEF_VALUE) {
            cmdDoneHandler(false, result);
          } else {
            cmdDoneHandler(true, returnvalue::OK);
          }
        } else {
          cmdDoneHandler(false, result);
        }
      }
      result = reportReplyData(mpsoc::TM_MEMORY_READ_REPORT);
      break;
    case (mpsoc::apid::TM_CAM_CMD_RPT):
      result = reportReplyData(mpsoc::TM_CAM_CMD_RPT);
      break;
    case (mpsoc::apid::TM_HK_GET_REPORT): {
      result = handleGetHkReport();
      break;
    }
    case (mpsoc::apid::TM_FLASH_DIRECTORY_CONTENT): {
      result = reportReplyData(mpsoc::TM_FLASH_DIRECTORY_CONTENT);
      break;
    }
    case (mpsoc::apid::EXE_SUCCESS):
    case (mpsoc::apid::EXE_FAILURE): {
      result = handleExecutionReport();
      break;
    }
    default: {
      sif::debug << "FreshMpsocHandler:: Reply has invalid APID 0x" << std::hex << std::setfill('0')
                 << std::setw(2) << apid << std::dec << std::endl;
      return mpsoc::INVALID_APID;
    }
  }

  uint16_t sequenceCount = replyReader.getSequenceCount();
  if (sequenceCount != lastReplySequenceCount + 1) {
    // We could trigger event for possible missing reply packet to inform operator, but I don't
    // think this is properly implemented and used on the MPSoC side anymore.
  }
  lastReplySequenceCount = sequenceCount;

  return result;
}

ReturnValue_t FreshMpsocHandler::handleExecutionReport() {
  ReturnValue_t result = returnvalue::OK;
  auto& replyReader = comInterface.getSpReader();

  switch (replyReader.getApid()) {
    case (mpsoc::apid::EXE_SUCCESS): {
      cmdDoneHandler(true, result);
      break;
    }
    case (mpsoc::apid::EXE_FAILURE): {
      DeviceCommandId_t commandId = activeCmdInfo.pendingCmd;
      // Ensure idempotency: If the device is already in the mode, the command was successful.
      if (mpsoc::getStatusFromRawData(replyReader.getFullData()) ==
          mpsoc::statusCode::TC_NOT_ALLOWED_IN_MODE) {
        if ((activeCmdInfo.pendingCmdMpsocApid == mpsoc::apid::TC_MODE_SNAPSHOT &&
             submode == mpsoc::Submode::SNAPSHOT) or
            (activeCmdInfo.pendingCmdMpsocApid == mpsoc::apid::TC_MODE_IDLE &&
             submode == mpsoc::Submode::IDLE_OR_NONE) or
            (activeCmdInfo.pendingCmdMpsocApid == mpsoc::apid::TC_MODE_REPLAY &&
             submode == mpsoc::Submode::REPLAY)) {
          cmdDoneHandler(true, returnvalue::OK);
          return result;
        }
      }
      if (commandId == DeviceHandlerIF::NO_COMMAND_ID) {
        sif::warning << "FreshMpsocHandler::handleExecutionReport: Unknown Command ID" << std::endl;
      }
      uint16_t status = mpsoc::getStatusFromRawData(replyReader.getFullData());
      sif::warning << "MPSoC EXE Failure: " << mpsoc::getStatusString(status) << std::endl;
      triggerEvent(mpsoc::EXE_FAILURE, commandId, status);
      cmdDoneHandler(false, mpsoc::RECEIVED_EXE_FAILURE);
      break;
    }
    default: {
      sif::warning << "PlocMPSoCHandler::handleExecutionReport: Unknown APID" << std::endl;
      result = returnvalue::FAILED;
      break;
    }
  }
  return result;
}

ReturnValue_t FreshMpsocHandler::handleAckReport() {
  ReturnValue_t result = returnvalue::OK;
  auto& replyReader = comInterface.getSpReader();

  switch (replyReader.getApid()) {
    case mpsoc::apid::ACK_FAILURE: {
      uint16_t status = mpsoc::getStatusFromRawData(replyReader.getFullData());
      sif::warning << "MPSoC ACK Failure: " << mpsoc::getStatusString(status) << std::endl;
      triggerEvent(mpsoc::ACK_FAILURE, activeCmdInfo.pendingCmd, status);
      cmdDoneHandler(false, status);
      break;
    }
    case mpsoc::apid::ACK_SUCCESS: {
      break;
    }
    default: {
      sif::error << "FreshMpsocHandler::handleAckReport: Invalid APID in ACK report" << std::endl;
      result = returnvalue::FAILED;
      break;
    }
  }

  return result;
}

ReturnValue_t FreshMpsocHandler::getParameter(uint8_t domainId, uint8_t uniqueId,
                                              ParameterWrapper* parameterWrapper,
                                              const ParameterWrapper* newValues,
                                              uint16_t startAtIndex) {
  if (uniqueId == mpsoc::ParamId::SKIP_SUPV_ON_COMMANDING) {
    uint8_t value = 0;
    newValues->getElement(&value);
    if (value > 1) {
      return HasParametersIF::INVALID_VALUE;
    }
    parameterWrapper->set(skipSupvCommandingToOn);
    return returnvalue::OK;
  }
  return FreshDeviceHandlerBase::getParameter(domainId, uniqueId, parameterWrapper, newValues,
                                              startAtIndex);
}

ReturnValue_t FreshMpsocHandler::reportReplyData(DeviceCommandId_t tmId) {
  auto& replyReader = comInterface.getSpReader();
  if (activeCmdInfo.commandedBy != MessageQueueIF::NO_QUEUE) {
    return actionHelper.reportData(
        activeCmdInfo.commandedBy, tmId, replyReader.getFullData() + mpsoc::DATA_FIELD_OFFSET,
        replyReader.getFullPacketLen() - mpsoc::DATA_FIELD_OFFSET - mpsoc::CRC_SIZE);
  }
  return returnvalue::OK;
}

ReturnValue_t FreshMpsocHandler::handleGetHkReport() {
  auto& spReader = comInterface.getSpReader();
  const uint8_t* dataStart = spReader.getFullData() + 6;
  PoolReadGuard pg(&hkReport);
  size_t deserLen = mpsoc::SIZE_TM_HK_REPORT;
  SerializeIF::Endianness endianness = SerializeIF::Endianness::NETWORK;
  ReturnValue_t result =
      SerializeAdapter::deSerialize(&hkReport.status.value, &dataStart, &deserLen, endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.mode.value, &dataStart, &deserLen, endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.downlinkPwrOn.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.downlinkReplyActive.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.downlinkJesdSyncStatus.value, &dataStart,
                                         &deserLen, endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.downlinkDacStatus.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result =
      SerializeAdapter::deSerialize(&hkReport.camStatus.value, &dataStart, &deserLen, endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.camSdiStatus.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result =
      SerializeAdapter::deSerialize(&hkReport.camFpgaTemp.value, &dataStart, &deserLen, endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result =
      SerializeAdapter::deSerialize(&hkReport.sysmonTemp.value, &dataStart, &deserLen, endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.sysmonVccInt.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.sysmonVccAux.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.sysmonVccBram.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.sysmonVccPaux.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.sysmonVccPint.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.sysmonVccPdro.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result =
      SerializeAdapter::deSerialize(&hkReport.sysmonMb12V.value, &dataStart, &deserLen, endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result =
      SerializeAdapter::deSerialize(&hkReport.sysmonMb3V3.value, &dataStart, &deserLen, endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result =
      SerializeAdapter::deSerialize(&hkReport.sysmonMb1V8.value, &dataStart, &deserLen, endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc12V.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result =
      SerializeAdapter::deSerialize(&hkReport.sysmonVcc5V.value, &dataStart, &deserLen, endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc3V3.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc3V3VA.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc2V5DDR.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc1V2DDR.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc0V9.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.sysmonVcc0V6VTT.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.sysmonSafeCotsCur.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.sysmonNvm4XoCur.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.semUncorrectableErrs.value, &dataStart,
                                         &deserLen, endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result = SerializeAdapter::deSerialize(&hkReport.semCorrectableErrs.value, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  result =
      SerializeAdapter::deSerialize(&hkReport.semStatus.value, &dataStart, &deserLen, endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  // Skip the weird filename
  dataStart += 256;
  result = SerializeAdapter::deSerialize(&hkReport.rebootMpsocRequired, &dataStart, &deserLen,
                                         endianness);
  if (result != returnvalue::OK) {
    return result;
  }
  hkReport.setValidity(true, true);
  return returnvalue::OK;
}

bool FreshMpsocHandler::handleHwStartup() {
#if OBSW_MPSOC_JTAG_BOOT == 1
  uartIsolatorSwitch.pullHigh();
  startupState = StartupState::WAIT_CYCLES;
  return true;
#endif
  if (powerState == PowerState::IDLE) {
    if (skipSupvCommandingToOn) {
      powerState = PowerState::DONE;
    } else {
      if (supv::SUPV_ON) {
        commandActionHelper.commandAction(supervisorHandler, supv::START_MPSOC);
        supvTransitionCd.resetTimer();
        powerState = PowerState::PENDING_STARTUP;
      } else {
        triggerEvent(mpsoc::SUPV_NOT_ON, 1);
        // Set back to OFF for now, failing the transition.
        setMode(MODE_OFF);
      }
    }
  }
  if (powerState == PowerState::SUPV_FAILED) {
    setMode(MODE_OFF);
    powerState = PowerState::IDLE;
    transitionState = TransitionState::NONE;
    return false;
  }
  if (powerState == PowerState::PENDING_STARTUP) {
    if (supvTransitionCd.hasTimedOut()) {
      // Process with transition nonetheless..
      triggerEvent(mpsoc::SUPV_REPLY_TIMEOUT);
      powerState = PowerState::DONE;
    } else {
      return false;
    }
  }
  if (powerState == PowerState::DONE) {
    // Wait a bit for the MPSoC to fully boot.
    if (!mpsocBootTransitionCd.hasTimedOut()) {
      return false;
    }
    uartIsolatorSwitch.pullHigh();
    comInterface.getComHelper().flushUartTxAndRxBuf();
    powerState = PowerState::IDLE;
  }
  return true;
}

bool FreshMpsocHandler::handleHwShutdown() {
  stopSpecialComHelper();
  uartIsolatorSwitch.pullLow();
#if OBSW_MPSOC_JTAG_BOOT == 1
  powerState = PowerState::DONE;
  return true;
#endif

  if (powerState == PowerState::IDLE) {
    if (supv::SUPV_ON) {
      commandActionHelper.commandAction(supervisorHandler, supv::SHUTDOWN_MPSOC);
      supvTransitionCd.resetTimer();
      powerState = PowerState::PENDING_SHUTDOWN;
    } else {
      if ((this->mode != MODE_OFF) and (this->mode != MODE_UNDEFINED)) {
        triggerEvent(mpsoc::SUPV_NOT_ON, 0);
      }
      powerState = PowerState::DONE;
    }
  }
  if (powerState == PowerState::PENDING_SHUTDOWN) {
    if (supvTransitionCd.hasTimedOut()) {
      powerState = PowerState::DONE;
      // Process with transition nonetheless..
      triggerEvent(mpsoc::SUPV_REPLY_TIMEOUT);
      return true;
    } else {
      // Wait till power state is OFF.
      return false;
    }
  }
  return true;
}

void FreshMpsocHandler::stopSpecialComHelper() {
  specialComHelper.stopProcess();
  specialComHelperExecuting = false;
}