#include <sstream>
#include <string>
#include <fstream>
#include <filesystem>

#include "PlocSupervisorHandler.h"
#include "OBSWConfig.h"

#include <fsfw/globalfunctions/CRC.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/timemanager/Clock.h>

PlocSupervisorHandler::PlocSupervisorHandler(object_id_t objectId, object_id_t uartComIFid,
        CookieIF * comCookie) :
        DeviceHandlerBase(objectId, uartComIFid, comCookie), hkset(this), bootStatusReport(this), latchupStatusReport(
                this) {
    if (comCookie == NULL) {
        sif::error << "PlocSupervisorHandler: Invalid com cookie" << std::endl;
    }
}

PlocSupervisorHandler::~PlocSupervisorHandler() {
}

ReturnValue_t PlocSupervisorHandler::initialize() {
    ReturnValue_t result = RETURN_OK;
    result = DeviceHandlerBase::initialize();
    if (result != RETURN_OK) {
        return result;
    }
    uartComIf = dynamic_cast<UartComIF*>(communicationInterface);
    if (uartComIf == nullptr) {
        sif::warning << "PlocSupervisorHandler::initialize: Invalid uart com if" << std::endl;
        return INVALID_UART_COM_IF;
    }

#if BOARD_TE0720 == 0
    sdcMan = SdCardManager::instance();
#endif /* BOARD_TE0720 == 0 */

    return result;
}


void PlocSupervisorHandler::doStartUp(){
#if OBSW_SWITCH_TO_NORMAL_MODE_AFTER_STARTUP == 1
    setMode(MODE_NORMAL);
#else
    setMode(_MODE_TO_ON);
#endif
}

void PlocSupervisorHandler::doShutDown(){
    setMode(_MODE_POWER_DOWN);
}

ReturnValue_t PlocSupervisorHandler::buildNormalDeviceCommand(
		DeviceCommandId_t * id) {
    return NOTHING_TO_SEND;
}

ReturnValue_t PlocSupervisorHandler::buildTransitionDeviceCommand(
		DeviceCommandId_t * id){
	return NOTHING_TO_SEND;
}

ReturnValue_t PlocSupervisorHandler::buildCommandFromCommand(
		DeviceCommandId_t deviceCommand, const uint8_t * commandData,
		size_t commandDataLen) {
    ReturnValue_t result = RETURN_FAILED;
	switch(deviceCommand) {
	case(PLOC_SPV::GET_HK_REPORT): {
	    prepareEmptyCmd(PLOC_SPV::APID_GET_HK_REPORT);
	    result = RETURN_OK;
	    break;
	}
	case(PLOC_SPV::RESTART_MPSOC): {
	    prepareEmptyCmd(PLOC_SPV::APID_RESTART_MPSOC);
	    result = RETURN_OK;
	    break;
	}
	case(PLOC_SPV::START_MPSOC): {
	    prepareEmptyCmd(PLOC_SPV::APID_START_MPSOC);
	    result = RETURN_OK;
	    break;
	}
	case(PLOC_SPV::SHUTDOWN_MPSOC): {
	    prepareEmptyCmd(PLOC_SPV::APID_SHUTWOWN_MPSOC);
	    result = RETURN_OK;
	    break;
	}
	case(PLOC_SPV::SEL_MPSOC_BOOT_IMAGE): {
	    prepareSelBootImageCmd(commandData);
	    result = RETURN_OK;
	    break;
	}
	case(PLOC_SPV::RESET_MPSOC): {
        prepareEmptyCmd(PLOC_SPV::APID_RESET_MPSOC);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::SET_TIME_REF): {
	    result = prepareSetTimeRefCmd();
	    break;
	}
	case(PLOC_SPV::SET_BOOT_TIMEOUT): {
	    prepareSetBootTimeoutCmd(commandData);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::SET_MAX_RESTART_TRIES): {
	    prepareRestartTriesCmd(commandData);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::DISABLE_PERIOIC_HK_TRANSMISSION): {
	    prepareDisableHk();
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::GET_BOOT_STATUS_REPORT): {
        prepareEmptyCmd(PLOC_SPV::APID_GET_BOOT_STATUS_RPT);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::WATCHDOGS_ENABLE): {
        prepareWatchdogsEnableCmd(commandData);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::WATCHDOGS_CONFIG_TIMEOUT): {
        result = prepareWatchdogsConfigTimeoutCmd(commandData);
        break;
    }
	case(PLOC_SPV::ENABLE_LATCHUP_ALERT): {
        result = prepareLatchupConfigCmd(commandData, deviceCommand);
        break;
    }
	case(PLOC_SPV::DISABLE_LATCHUP_ALERT): {
        result = prepareLatchupConfigCmd(commandData, deviceCommand);
        break;
    }
	case(PLOC_SPV::AUTO_CALIBRATE_ALERT): {
        result = prepareAutoCalibrateAlertCmd(commandData);
        break;
    }
	case(PLOC_SPV::SET_ALERT_LIMIT): {
        result = prepareSetAlertLimitCmd(commandData);
        break;
    }
	case(PLOC_SPV::SET_ALERT_IRQ_FILTER): {
        result = prepareSetAlertIrqFilterCmd(commandData);
        break;
    }
	case(PLOC_SPV::SET_ADC_SWEEP_PERIOD): {
        result = prepareSetAdcSweetPeriodCmd(commandData);
        break;
    }
	case(PLOC_SPV::SET_ADC_ENABLED_CHANNELS): {
	    prepareSetAdcEnabledChannelsCmd(commandData);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::SET_ADC_WINDOW_AND_STRIDE): {
	    prepareSetAdcWindowAndStrideCmd(commandData);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::SET_ADC_THRESHOLD): {
	    prepareSetAdcThresholdCmd(commandData);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::GET_LATCHUP_STATUS_REPORT): {
	    prepareEmptyCmd(PLOC_SPV::APID_GET_LATCHUP_STATUS_REPORT);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::COPY_ADC_DATA_TO_MRAM): {
	    prepareEmptyCmd(PLOC_SPV::APID_COPY_ADC_DATA_TO_MRAM);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::ENABLE_NVMS): {
	    prepareEnableNvmsCmd(commandData);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::SELECT_NVM): {
	    prepareSelectNvmCmd(commandData);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::RUN_AUTO_EM_TESTS): {
	    result = prepareRunAutoEmTest(commandData);
        break;
    }
	case(PLOC_SPV::WIPE_MRAM): {
	    result = prepareWipeMramCmd(commandData);
        break;
    }
	case(PLOC_SPV::DUMP_MRAM): {
	    result = prepareDumpMramCmd(commandData);
        break;
    }
	case(PLOC_SPV::PRINT_CPU_STATS): {
        preparePrintCpuStatsCmd(commandData);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::SET_DBG_VERBOSITY): {
	    prepareSetDbgVerbosityCmd(commandData);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::CAN_LOOPBACK_TEST): {
        prepareEmptyCmd(PLOC_SPV::APID_CAN_LOOPBACK_TEST);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::SET_GPIO): {
	    prepareSetGpioCmd(commandData);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::READ_GPIO): {
	    prepareReadGpioCmd(commandData);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::RESTART_SUPERVISOR): {
	    prepareEmptyCmd(PLOC_SPV::APID_RESTART_SUPERVISOR);
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::FACTORY_RESET_CLEAR_ALL): {
	    PLOC_SPV::FactoryReset packet(PLOC_SPV::FactoryReset::Op::CLEAR_ALL);
        packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::FACTORY_RESET_CLEAR_MIRROR): {
	    PLOC_SPV::FactoryReset packet(PLOC_SPV::FactoryReset::Op::MIRROR_ENTRIES);
        packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::FACTORY_RESET_CLEAR_CIRCULAR): {
	    PLOC_SPV::FactoryReset packet(PLOC_SPV::FactoryReset::Op::CIRCULAR_ENTRIES);
        packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
        result = RETURN_OK;
        break;
    }
	case(PLOC_SPV::UPDATE_AVAILABLE):
	case(PLOC_SPV::UPDATE_IMAGE_DATA):
	case(PLOC_SPV::UPDATE_VERIFY):
	    // Simply forward data from PLOC Updater to supervisor
	    std::memcpy(commandBuffer, commandData, commandDataLen);
	    rawPacket = commandBuffer;
	    rawPacketLen = commandDataLen;
	    nextReplyId = PLOC_SPV::ACK_REPORT;
	    result = RETURN_OK;
	    break;
	default:
	    sif::debug << "PlocSupervisorHandler::buildCommandFromCommand: Command not implemented"
	        << std::endl;
		result = DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
		break;
	}

	if (result == RETURN_OK) {
	    /**
	     * Flushing the receive buffer to make sure there are no data left from a faulty reply.
	     */
	    uartComIf->flushUartRxBuffer(comCookie);
	}

	return result;
}

void PlocSupervisorHandler::fillCommandAndReplyMap() {
    this->insertInCommandMap(PLOC_SPV::GET_HK_REPORT);
    this->insertInCommandMap(PLOC_SPV::RESTART_MPSOC);
    this->insertInCommandMap(PLOC_SPV::START_MPSOC);
    this->insertInCommandMap(PLOC_SPV::SHUTDOWN_MPSOC);
    this->insertInCommandMap(PLOC_SPV::SEL_MPSOC_BOOT_IMAGE);
    this->insertInCommandMap(PLOC_SPV::SET_BOOT_TIMEOUT);
    this->insertInCommandMap(PLOC_SPV::SET_MAX_RESTART_TRIES);
    this->insertInCommandMap(PLOC_SPV::RESET_MPSOC);
    this->insertInCommandMap(PLOC_SPV::SET_TIME_REF);
    this->insertInCommandMap(PLOC_SPV::DISABLE_PERIOIC_HK_TRANSMISSION);
    this->insertInCommandMap(PLOC_SPV::GET_BOOT_STATUS_REPORT);
    this->insertInCommandMap(PLOC_SPV::UPDATE_AVAILABLE);
    this->insertInCommandMap(PLOC_SPV::UPDATE_VERIFY);
    this->insertInCommandMap(PLOC_SPV::UPDATE_IMAGE_DATA);
    this->insertInCommandMap(PLOC_SPV::WATCHDOGS_ENABLE);
    this->insertInCommandMap(PLOC_SPV::WATCHDOGS_CONFIG_TIMEOUT);
    this->insertInCommandMap(PLOC_SPV::ENABLE_LATCHUP_ALERT);
    this->insertInCommandMap(PLOC_SPV::DISABLE_LATCHUP_ALERT);
    this->insertInCommandMap(PLOC_SPV::AUTO_CALIBRATE_ALERT);
    this->insertInCommandMap(PLOC_SPV::SET_ALERT_LIMIT);
    this->insertInCommandMap(PLOC_SPV::SET_ALERT_IRQ_FILTER);
    this->insertInCommandMap(PLOC_SPV::SET_ADC_SWEEP_PERIOD);
    this->insertInCommandMap(PLOC_SPV::SET_ADC_ENABLED_CHANNELS);
    this->insertInCommandMap(PLOC_SPV::SET_ADC_WINDOW_AND_STRIDE);
    this->insertInCommandMap(PLOC_SPV::SET_ADC_THRESHOLD);
    this->insertInCommandMap(PLOC_SPV::GET_LATCHUP_STATUS_REPORT);
    this->insertInCommandMap(PLOC_SPV::COPY_ADC_DATA_TO_MRAM);
    this->insertInCommandMap(PLOC_SPV::ENABLE_NVMS);
    this->insertInCommandMap(PLOC_SPV::SELECT_NVM);
    this->insertInCommandMap(PLOC_SPV::RUN_AUTO_EM_TESTS);
    this->insertInCommandMap(PLOC_SPV::WIPE_MRAM);
    this->insertInCommandMap(PLOC_SPV::PRINT_CPU_STATS);
    this->insertInCommandMap(PLOC_SPV::SET_DBG_VERBOSITY);
    this->insertInCommandMap(PLOC_SPV::SET_GPIO);
    this->insertInCommandMap(PLOC_SPV::READ_GPIO);
    this->insertInCommandMap(PLOC_SPV::RESTART_SUPERVISOR);
    this->insertInCommandMap(PLOC_SPV::FACTORY_RESET_CLEAR_ALL);
    this->insertInCommandMap(PLOC_SPV::FACTORY_RESET_CLEAR_MIRROR);
    this->insertInCommandMap(PLOC_SPV::FACTORY_RESET_CLEAR_CIRCULAR);
    this->insertInCommandMap(PLOC_SPV::CAN_LOOPBACK_TEST);
    this->insertInCommandAndReplyMap(PLOC_SPV::DUMP_MRAM, 3);
    this->insertInReplyMap(PLOC_SPV::ACK_REPORT, 3, nullptr, PLOC_SPV::SIZE_ACK_REPORT);
    this->insertInReplyMap(PLOC_SPV::EXE_REPORT, 3, nullptr, PLOC_SPV::SIZE_EXE_REPORT);
    this->insertInReplyMap(PLOC_SPV::HK_REPORT, 3, &hkset, PLOC_SPV::SIZE_HK_REPORT);
    this->insertInReplyMap(PLOC_SPV::BOOT_STATUS_REPORT, 3, &bootStatusReport,
            PLOC_SPV::SIZE_BOOT_STATUS_REPORT);
    this->insertInReplyMap(PLOC_SPV::LATCHUP_REPORT, 3, &latchupStatusReport,
            PLOC_SPV::SIZE_LATCHUP_STATUS_REPORT);
}

ReturnValue_t PlocSupervisorHandler::scanForReply(const uint8_t *start,
        size_t remainingSize, DeviceCommandId_t *foundId, size_t *foundLen) {

    if (nextReplyId == PLOC_SPV::DUMP_MRAM) {
        *foundId = PLOC_SPV::DUMP_MRAM;
        return parseMramPackets(start, remainingSize, foundLen);
    }

    ReturnValue_t result = RETURN_OK;

    uint16_t apid = (*(start) << 8 | *(start + 1)) & APID_MASK;

	switch(apid) {
	case(PLOC_SPV::APID_ACK_SUCCESS):
        *foundLen = PLOC_SPV::SIZE_ACK_REPORT;
	    *foundId = PLOC_SPV::ACK_REPORT;
		break;
	case(PLOC_SPV::APID_ACK_FAILURE):
        *foundLen = PLOC_SPV::SIZE_ACK_REPORT;
	    *foundId = PLOC_SPV::ACK_REPORT;
		break;
	case(PLOC_SPV::APID_HK_REPORT):
        *foundLen = PLOC_SPV::SIZE_HK_REPORT;
	    *foundId = PLOC_SPV::HK_REPORT;
	    break;
	case(PLOC_SPV::APID_BOOT_STATUS_REPORT):
        *foundLen = PLOC_SPV::SIZE_BOOT_STATUS_REPORT;
	    *foundId = PLOC_SPV::BOOT_STATUS_REPORT;
	    break;
	case(PLOC_SPV::APID_LATCHUP_STATUS_REPORT):
        *foundLen = PLOC_SPV::SIZE_LATCHUP_STATUS_REPORT;
	    *foundId = PLOC_SPV::LATCHUP_REPORT;
	    break;
	case(PLOC_SPV::APID_EXE_SUCCESS):
        *foundLen = PLOC_SPV::SIZE_EXE_REPORT;
	    *foundId = PLOC_SPV::EXE_REPORT;
		break;
	case(PLOC_SPV::APID_EXE_FAILURE):
        *foundLen = PLOC_SPV::SIZE_EXE_REPORT;
	    *foundId = PLOC_SPV::EXE_REPORT;
	    break;
	default: {
        sif::debug << "PlocSupervisorHandler::scanForReply: Reply has invalid apid" << std::endl;
        *foundLen = remainingSize;
        return INVALID_APID;
	}
	}

    return result;
}

ReturnValue_t PlocSupervisorHandler::interpretDeviceReply(DeviceCommandId_t id,
        const uint8_t *packet) {

    ReturnValue_t result = RETURN_OK;

    switch (id) {
    case PLOC_SPV::ACK_REPORT: {
        result = handleAckReport(packet);
        break;
    }
    case (PLOC_SPV::HK_REPORT): {
        result = handleHkReport(packet);
        break;
    }
    case (PLOC_SPV::BOOT_STATUS_REPORT): {
        result = handleBootStatusReport(packet);
        break;
    }
    case (PLOC_SPV::LATCHUP_REPORT): {
        result = handleLatchupStatusReport(packet);
        break;
    }
    case (PLOC_SPV::DUMP_MRAM): {
        result = handleMramDumpPacket();
        break;
    }
    case (PLOC_SPV::EXE_REPORT): {
        result = handleExecutionReport(packet);
        break;
    }
    default: {
        sif::debug << "PlocSupervisorHandler::interpretDeviceReply: Unknown device reply id" << std::endl;
        return DeviceHandlerIF::UNKNOWN_DEVICE_REPLY;
    }
    }

    return result;
}

void PlocSupervisorHandler::setNormalDatapoolEntriesInvalid(){

}

uint32_t PlocSupervisorHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo){
    return 500;
}

ReturnValue_t PlocSupervisorHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
        LocalDataPoolManager& poolManager) {

    localDataPoolMap.emplace(PLOC_SPV::NUM_TMS, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::TEMP_PS, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::TEMP_PL, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::SOC_STATE, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::NVM0_1_STATE, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::NVM3_STATE, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::MISSION_IO_STATE, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::FMC_STATE, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::NUM_TCS, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::UPTIME, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::CPULOAD, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::AVAILABLEHEAP, new PoolEntry<uint32_t>( { 0 }));

    localDataPoolMap.emplace(PLOC_SPV::BOOT_SIGNAL, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::RESET_COUNTER, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::BOOT_AFTER_MS, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::BOOT_TIMEOUT_MS, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::ACTIVE_NVM, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::BP0_STATE, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::BP1_STATE, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::BP2_STATE, new PoolEntry<uint8_t>( { 0 }));

    localDataPoolMap.emplace(PLOC_SPV::LATCHUP_ID, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::CNT0, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::CNT1, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::CNT2, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::CNT3, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::CNT4, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::CNT5, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::CNT6, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_SEC, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_MIN, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_HOUR, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_DAY, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_MON, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_YEAR, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_MSEC, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(PLOC_SPV::LATCHUP_RPT_TIME_IS_SET, new PoolEntry<uint32_t>( { 0 }));

    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t PlocSupervisorHandler::enableReplyInReplyMap(DeviceCommandMap::iterator command,
                uint8_t expectedReplies, bool useAlternateId,
                DeviceCommandId_t alternateReplyID) {

    ReturnValue_t result = RETURN_OK;

    uint8_t enabledReplies = 0;

    switch (command->first) {
    case PLOC_SPV::GET_HK_REPORT: {
        enabledReplies = 3;
        result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
                PLOC_SPV::HK_REPORT);
        if (result != RETURN_OK) {
            sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
                    << PLOC_SPV::HK_REPORT << " not in replyMap" << std::endl;
        }
        break;
    }
    case PLOC_SPV::GET_BOOT_STATUS_REPORT: {
        enabledReplies = 3;
        result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
                PLOC_SPV::BOOT_STATUS_REPORT);
        if (result != RETURN_OK) {
            sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
                    << PLOC_SPV::BOOT_STATUS_REPORT << " not in replyMap" << std::endl;
        }
        break;
    }
    case PLOC_SPV::GET_LATCHUP_STATUS_REPORT: {
        enabledReplies = 3;
        result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
                PLOC_SPV::LATCHUP_REPORT);
        if (result != RETURN_OK) {
            sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
                    << PLOC_SPV::LATCHUP_REPORT << " not in replyMap" << std::endl;
        }
        break;
    }
    case PLOC_SPV::DUMP_MRAM: {
        enabledReplies = 2; // expected replies will be increased in handleMramDumpPacket
        result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
                PLOC_SPV::DUMP_MRAM);
        if (result != RETURN_OK) {
            sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
                    << PLOC_SPV::LATCHUP_REPORT << " not in replyMap" << std::endl;
        }
        break;
    }
    case PLOC_SPV::RESTART_MPSOC:
    case PLOC_SPV::START_MPSOC:
    case PLOC_SPV::SHUTDOWN_MPSOC:
    case PLOC_SPV::SEL_MPSOC_BOOT_IMAGE:
    case PLOC_SPV::SET_BOOT_TIMEOUT:
    case PLOC_SPV::SET_MAX_RESTART_TRIES:
    case PLOC_SPV::RESET_MPSOC:
    case PLOC_SPV::SET_TIME_REF:
    case PLOC_SPV::UPDATE_AVAILABLE:
    case PLOC_SPV::UPDATE_IMAGE_DATA:
    case PLOC_SPV::UPDATE_VERIFY:
    case PLOC_SPV::WATCHDOGS_ENABLE:
    case PLOC_SPV::WATCHDOGS_CONFIG_TIMEOUT:
    case PLOC_SPV::ENABLE_LATCHUP_ALERT:
    case PLOC_SPV::DISABLE_LATCHUP_ALERT:
    case PLOC_SPV::AUTO_CALIBRATE_ALERT:
    case PLOC_SPV::SET_ALERT_LIMIT:
    case PLOC_SPV::SET_ALERT_IRQ_FILTER:
    case PLOC_SPV::SET_ADC_SWEEP_PERIOD:
    case PLOC_SPV::SET_ADC_ENABLED_CHANNELS:
    case PLOC_SPV::SET_ADC_WINDOW_AND_STRIDE:
    case PLOC_SPV::SET_ADC_THRESHOLD:
    case PLOC_SPV::COPY_ADC_DATA_TO_MRAM:
    case PLOC_SPV::ENABLE_NVMS:
    case PLOC_SPV::SELECT_NVM:
    case PLOC_SPV::RUN_AUTO_EM_TESTS:
    case PLOC_SPV::WIPE_MRAM:
    case PLOC_SPV::SET_DBG_VERBOSITY:
    case PLOC_SPV::CAN_LOOPBACK_TEST:
    case PLOC_SPV::PRINT_CPU_STATS:
    case PLOC_SPV::SET_GPIO:
    case PLOC_SPV::READ_GPIO:
    case PLOC_SPV::RESTART_SUPERVISOR:
    case PLOC_SPV::FACTORY_RESET_CLEAR_ALL:
    case PLOC_SPV::FACTORY_RESET_CLEAR_MIRROR:
    case PLOC_SPV::FACTORY_RESET_CLEAR_CIRCULAR:
    case PLOC_SPV::REQUEST_LOGGING_DATA:
    case PLOC_SPV::DISABLE_PERIOIC_HK_TRANSMISSION:
        enabledReplies = 2;
        break;
    default:
        sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Unknown command id" << std::endl;
        break;
    }

    /**
     * Every command causes at least one acknowledgment and one execution report. Therefore both
     * replies will be enabled here.
     */
    result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
            PLOC_SPV::ACK_REPORT);
    if (result != RETURN_OK) {
        sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
                << PLOC_SPV::ACK_REPORT << " not in replyMap" << std::endl;
    }

    result = DeviceHandlerBase::enableReplyInReplyMap(command, enabledReplies, true,
            PLOC_SPV::EXE_REPORT);
    if (result != RETURN_OK) {
        sif::debug << "PlocSupervisorHandler::enableReplyInReplyMap: Reply with id "
                << PLOC_SPV::EXE_REPORT << " not in replyMap" << std::endl;
    }

    return RETURN_OK;
}

ReturnValue_t PlocSupervisorHandler::verifyPacket(const uint8_t* start, size_t foundLen) {

    uint16_t receivedCrc = *(start + foundLen - 2) << 8 | *(start + foundLen - 1);

    uint16_t recalculatedCrc = CRC::crc16ccitt(start, foundLen - 2);

    if (receivedCrc != recalculatedCrc) {
        return CRC_FAILURE;
    }

    return RETURN_OK;
}

ReturnValue_t PlocSupervisorHandler::handleAckReport(const uint8_t* data) {

    ReturnValue_t result = RETURN_OK;

    result = verifyPacket(data, PLOC_SPV::SIZE_ACK_REPORT);
    if(result == CRC_FAILURE) {
        sif::error << "PlocSupervisorHandler::handleAckReport: CRC failure" << std::endl;
        nextReplyId = PLOC_SPV::NONE;
        replyRawReplyIfnotWiretapped(data, PLOC_SPV::SIZE_ACK_REPORT);
        triggerEvent(SUPV_CRC_FAILURE_EVENT);
        sendFailureReport(PLOC_SPV::ACK_REPORT, CRC_FAILURE);
        disableAllReplies();
        return RETURN_OK;
    }

    uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;

   switch(apid) {
   case PLOC_SPV::APID_ACK_FAILURE: {
       //TODO: Interpretation of status field in acknowledgment report
       sif::debug << "PlocSupervisorHandler::handleAckReport: Received Ack failure report" << std::endl;
       DeviceCommandId_t commandId = getPendingCommand();
       if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
           triggerEvent(SUPV_ACK_FAILURE, commandId);
       }
       sendFailureReport(PLOC_SPV::ACK_REPORT, RECEIVED_ACK_FAILURE);
       disableAllReplies();
       nextReplyId = PLOC_SPV::NONE;
       result = IGNORE_REPLY_DATA;
       break;
   }
   case PLOC_SPV::APID_ACK_SUCCESS: {
       setNextReplyId();
       break;
   }
   default: {
       sif::debug << "PlocSupervisorHandler::handleAckReport: Invalid APID in Ack report" << std::endl;
       result = RETURN_FAILED;
       break;
   }
   }

    return result;
}

ReturnValue_t PlocSupervisorHandler::handleExecutionReport(const uint8_t* data) {

    ReturnValue_t result = RETURN_OK;

    result = verifyPacket(data, PLOC_SPV::SIZE_EXE_REPORT);
    if(result == CRC_FAILURE) {
        sif::error << "PlocSupervisorHandler::handleExecutionReport: CRC failure" << std::endl;
        nextReplyId = PLOC_SPV::NONE;
        return result;
    }

    uint16_t apid = (*(data) << 8 | *(data + 1)) & APID_MASK;

    switch (apid) {
    case (PLOC_SPV::APID_EXE_SUCCESS): {
        break;
    }
    case (PLOC_SPV::APID_EXE_FAILURE): {
        //TODO: Interpretation of status field in execution report
        sif::error << "PlocSupervisorHandler::handleExecutionReport: Received execution failure report"
                << std::endl;
        DeviceCommandId_t commandId = getPendingCommand();
        if (commandId != DeviceHandlerIF::NO_COMMAND_ID) {
            triggerEvent(SUPV_EXE_FAILURE, commandId);
        }
        else {
            sif::debug << "PlocSupervisorHandler::handleExecutionReport: Unknown command id" << std::endl;
        }
        sendFailureReport(PLOC_SPV::EXE_REPORT, RECEIVED_EXE_FAILURE);
        disableExeReportReply();
        result = IGNORE_REPLY_DATA;
        break;
    }
    default: {
        sif::error << "PlocSupervisorHandler::handleExecutionReport: Unknown APID" << std::endl;
        result = RETURN_FAILED;
        break;
    }
    }

    nextReplyId = PLOC_SPV::NONE;

    return result;
}

ReturnValue_t PlocSupervisorHandler::handleHkReport(const uint8_t* data) {

    ReturnValue_t result = RETURN_OK;

    result = verifyPacket(data, PLOC_SPV::SIZE_HK_REPORT);

    if(result == CRC_FAILURE) {
        sif::error << "PlocSupervisorHandler::handleHkReport: Hk report has invalid crc"
                << std::endl;
    }

    uint16_t offset = PLOC_SPV::DATA_FIELD_OFFSET;
    hkset.tempPs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
            | *(data + offset + 3);
    offset += 4;
    hkset.tempPl = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
            | *(data + offset + 3);
    offset += 4;
    hkset.tempSup = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
            | *(data + offset + 3);
    offset += 4;
    hkset.uptime = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
            | *(data + offset + 3);
    offset += 4;
    hkset.cpuLoad = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
            | *(data + offset + 3);
    offset += 4;
    hkset.availableHeap = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
            | *(data + offset + 3);
    offset += 4;
    hkset.numTcs = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
            | *(data + offset + 3);
    offset += 4;
    hkset.numTms = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
            | *(data + offset + 3);
    offset += 4;
    hkset.socState = *(data + offset) << 24 | *(data + offset + 1) << 16 | *(data + offset + 2) << 8
            | *(data + offset + 3);
    offset += 4;
    hkset.nvm0_1_state = *(data + offset);
    offset += 1;
    hkset.nvm3_state = *(data + offset);
    offset += 1;
    hkset.missionIoState = *(data + offset);
    offset += 1;
    hkset.fmcState = *(data + offset);
    offset += 1;

    nextReplyId = PLOC_SPV::EXE_REPORT;

#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
    sif::info << "PlocSupervisorHandler::handleHkReport: temp_ps: " << hkset.tempPs << std::endl;
    sif::info << "PlocSupervisorHandler::handleHkReport: temp_pl: " << hkset.tempPl << std::endl;
    sif::info << "PlocSupervisorHandler::handleHkReport: temp_sup: " << hkset.tempSup << std::endl;
    sif::info << "PlocSupervisorHandler::handleHkReport: uptime: " << hkset.uptime << std::endl;
    sif::info << "PlocSupervisorHandler::handleHkReport: cpu_load: " << hkset.cpuLoad << std::endl;
    sif::info << "PlocSupervisorHandler::handleHkReport: available_heap: " << hkset.availableHeap << std::endl;
    sif::info << "PlocSupervisorHandler::handleHkReport: num_tcs: " << hkset.numTcs << std::endl;
    sif::info << "PlocSupervisorHandler::handleHkReport: num_tms: " << hkset.numTms << std::endl;
    sif::info << "PlocSupervisorHandler::handleHkReport: soc_state: " << hkset.socState << std::endl;
    sif::info << "PlocSupervisorHandler::handleHkReport: nvm0_1_state: "
            << static_cast<unsigned int>(hkset.nvm0_1_state.value) << std::endl;
    sif::info << "PlocSupervisorHandler::handleHkReport: nvm3_state: "
            << static_cast<unsigned int>(hkset.nvm3_state.value) << std::endl;
    sif::info << "PlocSupervisorHandler::handleHkReport: missoin_io_state: "
            << static_cast<unsigned int>(hkset.missionIoState.value) << std::endl;
    sif::info << "PlocSupervisorHandler::handleHkReport: fmc_state: "
            << static_cast<unsigned int>(hkset.fmcState.value) << std::endl;

#endif

    return result;
}

ReturnValue_t PlocSupervisorHandler::handleBootStatusReport(const uint8_t* data) {

    ReturnValue_t result = RETURN_OK;

    result = verifyPacket(data, PLOC_SPV::SIZE_BOOT_STATUS_REPORT);

    if(result == CRC_FAILURE) {
        sif::error << "PlocSupervisorHandler::handleBootStatusReport: Boot status report has invalid"
                " crc" << std::endl;
        return result;
    }

    uint16_t offset = PLOC_SPV::DATA_FIELD_OFFSET;
    bootStatusReport.bootSignal = *(data + offset);
    offset += 1;
    bootStatusReport.resetCounter = *(data + offset);
    offset += 1;
    bootStatusReport.bootAfterMs = *(data + offset) << 24 | *(data + offset + 1) << 16 |
            *(data + offset + 2) << 8 | *(data + offset + 3);
    offset += 4;
    bootStatusReport.bootTimeoutMs = *(data + offset) << 24 | *(data + offset + 1) << 16 |
            *(data + offset + 2) << 8 | *(data + offset + 3);
    offset += 4;
    bootStatusReport.activeNvm = *(data + offset);
    offset += 1;
    bootStatusReport.bp0State = *(data + offset);
    offset += 1;
    bootStatusReport.bp1State = *(data + offset);
    offset += 1;
    bootStatusReport.bp2State = *(data + offset);

    nextReplyId = PLOC_SPV::EXE_REPORT;

#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
    sif::info << "PlocSupervisorHandler::handleBootStatusReport: Boot signal: "
            << static_cast<unsigned int>(bootStatusReport.bootSignal.value) << std::endl;
    sif::info << "PlocSupervisorHandler::handleBootStatusReport: Reset counter: "
            << static_cast<unsigned int>(bootStatusReport.resetCounter.value) << std::endl;
    sif::info << "PlocSupervisorHandler::handleBootStatusReport: BootAfterMs: "
            << bootStatusReport.bootAfterMs << " ms" << std::endl;
    sif::info << "PlocSupervisorHandler::handleBootStatusReport: BootTimeoutMs: "
            << bootStatusReport.bootTimeoutMs << " ms" << std::endl;
    sif::info << "PlocSupervisorHandler::handleBootStatusReport: Active NVM: "
            << static_cast<unsigned int>(bootStatusReport.activeNvm.value) << std::endl;
    sif::info << "PlocSupervisorHandler::handleBootStatusReport: BP0: "
            << static_cast<unsigned int>(bootStatusReport.bp0State.value) << std::endl;
    sif::info << "PlocSupervisorHandler::handleBootStatusReport: BP1: "
            << static_cast<unsigned int>(bootStatusReport.bp1State.value) << std::endl;
    sif::info << "PlocSupervisorHandler::handleBootStatusReport: BP2: "
            << static_cast<unsigned int>(bootStatusReport.bp2State.value) << std::endl;
#endif

    return result;
}

ReturnValue_t PlocSupervisorHandler::handleLatchupStatusReport(const uint8_t* data) {

    ReturnValue_t result = RETURN_OK;

    result = verifyPacket(data, PLOC_SPV::SIZE_LATCHUP_STATUS_REPORT);

    if(result == CRC_FAILURE) {
        sif::error << "PlocSupervisorHandler::handleLatchupStatusReport: Latchup status report has "
                << "invalid crc" << std::endl;
        return result;
    }

    uint16_t offset = PLOC_SPV::DATA_FIELD_OFFSET;
    latchupStatusReport.id = *(data + offset);
    offset += 1;
    latchupStatusReport.cnt0 = *(data + offset) << 8 | *(data + offset + 1);
    offset += 2;
    latchupStatusReport.cnt1 = *(data + offset) << 8 | *(data + offset + 1);
    offset += 2;
    latchupStatusReport.cnt2 = *(data + offset) << 8 | *(data + offset + 1);
    offset += 2;
    latchupStatusReport.cnt3 = *(data + offset) << 8 | *(data + offset + 1);
    offset += 2;
    latchupStatusReport.cnt4 = *(data + offset) << 8 | *(data + offset + 1);
    offset += 2;
    latchupStatusReport.cnt5 = *(data + offset) << 8 | *(data + offset + 1);
    offset += 2;
    latchupStatusReport.cnt6 = *(data + offset) << 8 | *(data + offset + 1);
    offset += 2;
    latchupStatusReport.timeSec = *(data + offset) << 24 | *(data + offset + 1) << 16 |
            *(data + offset + 2) << 8 | *(data + offset + 3);
    offset += 4;
    latchupStatusReport.timeMin = *(data + offset) << 24 | *(data + offset + 1) << 16 |
            *(data + offset + 2) << 8 | *(data + offset + 3);
    offset += 4;
    latchupStatusReport.timeHour = *(data + offset) << 24 | *(data + offset + 1) << 16 |
            *(data + offset + 2) << 8 | *(data + offset + 3);
    offset += 4;
    latchupStatusReport.timeDay = *(data + offset) << 24 | *(data + offset + 1) << 16 |
            *(data + offset + 2) << 8 | *(data + offset + 3);
    offset += 4;
    latchupStatusReport.timeMon = *(data + offset) << 24 | *(data + offset + 1) << 16 |
            *(data + offset + 2) << 8 | *(data + offset + 3);
    offset += 4;
    latchupStatusReport.timeYear = *(data + offset) << 24 | *(data + offset + 1) << 16 |
            *(data + offset + 2) << 8 | *(data + offset + 3);
    offset += 4;
    latchupStatusReport.timeMsec = *(data + offset) << 24 | *(data + offset + 1) << 16 |
            *(data + offset + 2) << 8 | *(data + offset + 3);
    offset += 4;
    latchupStatusReport.isSet = *(data + offset) << 24 | *(data + offset + 1) << 16 |
            *(data + offset + 2) << 8 | *(data + offset + 3);
    offset += 4;

    nextReplyId = PLOC_SPV::EXE_REPORT;

#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PLOC_SUPERVISOR == 1
    sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Latchup ID: "
            << static_cast<unsigned int>(latchupStatusReport.id.value) << std::endl;
    sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT0: "
            << latchupStatusReport.cnt0 << std::endl;
    sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT1: "
            << latchupStatusReport.cnt1 << std::endl;
    sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT2: "
            << latchupStatusReport.cnt2 << std::endl;
    sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT3: "
            << latchupStatusReport.cnt3 << std::endl;
    sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT4: "
            << latchupStatusReport.cnt4 << std::endl;
    sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT5: "
            << latchupStatusReport.cnt5 << std::endl;
    sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: CNT6: "
            << latchupStatusReport.cnt6 << std::endl;
    sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Sec: "
            << latchupStatusReport.timeSec << std::endl;
    sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Min: "
            << latchupStatusReport.timeMin << std::endl;
    sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Hour: "
            << latchupStatusReport.timeHour << std::endl;
    sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Day: "
            << latchupStatusReport.timeDay << std::endl;
    sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Mon: "
            << latchupStatusReport.timeMon << std::endl;
    sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Year: "
            << latchupStatusReport.timeYear << std::endl;
    sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: Msec: "
            << latchupStatusReport.timeMsec << std::endl;
    sif::info << "PlocSupervisorHandler::handleLatchupStatusReport: isSet: 0x"
            << std::hex << latchupStatusReport.timeMsec << std::dec << std::endl;
#endif

    return result;
}

void PlocSupervisorHandler::setNextReplyId() {
    switch(getPendingCommand()) {
    case PLOC_SPV::GET_HK_REPORT:
        nextReplyId = PLOC_SPV::HK_REPORT;
        break;
    case PLOC_SPV::GET_BOOT_STATUS_REPORT:
        nextReplyId = PLOC_SPV::BOOT_STATUS_REPORT;
        break;
    case PLOC_SPV::GET_LATCHUP_STATUS_REPORT:
        nextReplyId = PLOC_SPV::LATCHUP_REPORT;
        break;
    case PLOC_SPV::DUMP_MRAM:
        nextReplyId = PLOC_SPV::DUMP_MRAM;
        break;
    default:
        /* If no telemetry is expected the next reply is always the execution report */
        nextReplyId = PLOC_SPV::EXE_REPORT;
        break;
    }
}

size_t PlocSupervisorHandler::getNextReplyLength(DeviceCommandId_t commandId){

    size_t replyLen = 0;

    if (nextReplyId == PLOC_SPV::NONE) {
        return replyLen;
    }

    if (nextReplyId == PLOC_SPV::DUMP_MRAM) {
        /**
         * Try to read 20 MRAM packets. If reply is larger, the packets will be read with the
         * next doSendRead call. The command will be as long active as the packet with the sequence
         * count indicating the last packet has not been received.
         */
        replyLen = PLOC_SPV::MAX_PACKET_SIZE * 20;
        return replyLen;
    }

    DeviceReplyIter iter = deviceReplyMap.find(nextReplyId);
    if (iter != deviceReplyMap.end()) {
        if (iter->second.delayCycles == 0) {
            /* Reply inactive */
            return replyLen;
        }
        replyLen = iter->second.replyLen;
    }
    else {
        sif::debug << "PlocSupervisorHandler::getNextReplyLength: No entry for reply with reply id "
                << std::hex << nextReplyId << " in deviceReplyMap" << std::endl;
    }

    return replyLen;
}

void PlocSupervisorHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {

    ReturnValue_t result = RETURN_OK;

    if (wiretappingMode == RAW) {
        /* Data already sent in doGetRead() */
        return;
    }

    DeviceReplyMap::iterator iter = deviceReplyMap.find(replyId);
    if (iter == deviceReplyMap.end()) {
        sif::debug << "PlocSupervisorHandler::handleDeviceTM: Unknown reply id" << std::endl;
        return;
    }
    MessageQueueId_t queueId = iter->second.command->second.sendReplyTo;

    if (queueId == NO_COMMANDER) {
        return;
    }

    result = actionHelper.reportData(queueId, replyId, data, dataSize);
    if (result != RETURN_OK) {
        sif::debug << "PlocSupervisorHandler::handleDeviceTM: Failed to report data" << std::endl;
    }
}

void PlocSupervisorHandler::prepareEmptyCmd(uint16_t apid) {
    PLOC_SPV::EmptyPacket packet(apid);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}

void PlocSupervisorHandler::prepareSelBootImageCmd(const uint8_t * commandData) {
    PLOC_SPV::MPSoCBootSelect packet(*commandData, *(commandData + 1), *(commandData + 2),
            *(commandData + 3));
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}

ReturnValue_t PlocSupervisorHandler::prepareSetTimeRefCmd() {
    Clock::TimeOfDay_t time;
    ReturnValue_t result = Clock::getDateAndTime(&time);
    if (result != RETURN_OK) {
        sif::warning << "PlocSupervisorHandler::prepareSetTimeRefCmd: Failed to get current time"
                << std::endl;
        return GET_TIME_FAILURE;
    }
    PLOC_SPV::SetTimeRef packet(&time);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
    return RETURN_OK;
}

void PlocSupervisorHandler::prepareDisableHk() {
    PLOC_SPV::DisablePeriodicHkTransmission packet;
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}

void PlocSupervisorHandler::prepareSetBootTimeoutCmd(const uint8_t * commandData) {
    uint32_t timeout = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
            | *(commandData + 3);
    PLOC_SPV::SetBootTimeout packet(timeout);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}

void PlocSupervisorHandler::prepareRestartTriesCmd(const uint8_t * commandData) {
    uint8_t restartTries = *(commandData);
    PLOC_SPV::SetRestartTries packet(restartTries);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}

void PlocSupervisorHandler::prepareWatchdogsEnableCmd(const uint8_t * commandData) {
    uint8_t offset = 0;
    uint8_t watchdogPs = *(commandData + offset);
    offset += 1;
    uint8_t watchdogPl  = *(commandData + offset);
    offset += 1;
    uint8_t watchdogInt  = *(commandData + offset);
    PLOC_SPV::WatchdogsEnable packet(watchdogPs, watchdogPl, watchdogInt);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}

ReturnValue_t PlocSupervisorHandler::prepareWatchdogsConfigTimeoutCmd(const uint8_t * commandData) {
    uint8_t offset = 0;
    uint8_t watchdog = *(commandData + offset);
    offset += 1;
    if (watchdog > 2) {
        return INVALID_WATCHDOG;
    }
    uint32_t timeout = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
            | *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
    if (timeout < 1000 || timeout > 360000) {
        return INVALID_WATCHDOG_TIMEOUT;
    }
    PLOC_SPV::WatchdogsConfigTimeout packet(watchdog, timeout);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
    return RETURN_OK;
}

ReturnValue_t PlocSupervisorHandler::prepareLatchupConfigCmd(const uint8_t* commandData,
        DeviceCommandId_t deviceCommand) {
    ReturnValue_t result = RETURN_OK;
    uint8_t latchupId = *commandData;
    if (latchupId > 6) {
        return INVALID_LATCHUP_ID;
    }
    switch (deviceCommand) {
    case (PLOC_SPV::ENABLE_LATCHUP_ALERT): {
        PLOC_SPV::LatchupAlert packet(true, latchupId);
        packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
        break;
    }
    case (PLOC_SPV::DISABLE_LATCHUP_ALERT): {
        PLOC_SPV::LatchupAlert packet(false, latchupId);
        packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
        break;
    }
    default: {
        sif::debug << "PlocSupervisorHandler::prepareLatchupConfigCmd: Invalid command id"
                << std::endl;
        result = RETURN_FAILED;
        break;
    }
    }
    return result;
}

ReturnValue_t PlocSupervisorHandler::prepareAutoCalibrateAlertCmd(const uint8_t* commandData) {
    uint8_t offset = 0;
    uint8_t latchupId = *commandData;
    offset += 1;
    uint32_t mg = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
            | *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
    if (latchupId > 6) {
        return INVALID_LATCHUP_ID;
    }
    PLOC_SPV::AutoCalibrateAlert packet(latchupId, mg);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
    return RETURN_OK;
}

ReturnValue_t PlocSupervisorHandler::prepareSetAlertIrqFilterCmd(const uint8_t* commandData) {
    uint8_t latchupId = *commandData;
    uint8_t tp = *(commandData + 1);
    uint8_t div = *(commandData + 2);
    if (latchupId > 6) {
        return INVALID_LATCHUP_ID;
    }
    PLOC_SPV::SetAlertIrqFilter packet(latchupId, tp, div);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
    return RETURN_OK;
}

ReturnValue_t PlocSupervisorHandler::prepareSetAlertLimitCmd(const uint8_t* commandData) {
    uint8_t offset = 0;
    uint8_t latchupId = *commandData;
    offset += 1;
    uint32_t dutycycle = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16
            | *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
    if (latchupId > 6) {
        return INVALID_LATCHUP_ID;
    }
    PLOC_SPV::SetAlertlimit packet(latchupId, dutycycle);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
    return RETURN_OK;
}

ReturnValue_t PlocSupervisorHandler::prepareSetAdcSweetPeriodCmd(const uint8_t* commandData) {
    uint32_t sweepPeriod = *(commandData) << 24 | *(commandData + 1) << 16
            | *(commandData + 2) << 8 | *(commandData + 3);
    if (sweepPeriod < 21) {
        return SWEEP_PERIOD_TOO_SMALL;
    }
    PLOC_SPV::SetAdcSweepPeriod packet(sweepPeriod);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
    return RETURN_OK;
}

void PlocSupervisorHandler::prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData) {
    uint16_t ch = *(commandData) << 8 | *(commandData + 1);
    PLOC_SPV::SetAdcEnabledChannels packet(ch);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}

void PlocSupervisorHandler::prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData) {
    uint8_t offset = 0;
    uint16_t windowSize = *(commandData + offset) << 8 | *(commandData + offset + 1);
    offset += 2;
    uint16_t stridingStepSize = *(commandData + offset) << 8 | *(commandData + offset + 1);
    PLOC_SPV::SetAdcWindowAndStride packet(windowSize, stridingStepSize);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}

void PlocSupervisorHandler::prepareSetAdcThresholdCmd(const uint8_t* commandData) {
    uint32_t threshold = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
            | *(commandData + 3);
    PLOC_SPV::SetAdcThreshold packet(threshold);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}

void PlocSupervisorHandler::prepareEnableNvmsCmd(const uint8_t* commandData) {
    uint8_t n01 = *commandData;
    uint8_t n3 = *(commandData + 1);
    PLOC_SPV::EnableNvms packet(n01, n3);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}

void PlocSupervisorHandler::prepareSelectNvmCmd(const uint8_t* commandData) {
    uint8_t mem = *commandData;
    PLOC_SPV::SelectNvm packet(mem);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}

ReturnValue_t PlocSupervisorHandler::prepareRunAutoEmTest(const uint8_t* commandData) {
    uint8_t test = *commandData;
    if (test != 1 && test != 2) {
        return INVALID_TEST_PARAM;
    }
    PLOC_SPV::RunAutoEmTests packet(test);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
    return RETURN_OK;
}

ReturnValue_t PlocSupervisorHandler::prepareWipeMramCmd(const uint8_t* commandData) {
    uint32_t start = 0;
    uint32_t stop = 0;
    size_t size = sizeof(start) + sizeof(stop);
    SerializeAdapter::deSerialize(&start, &commandData, &size, SerializeIF::Endianness::BIG);
    SerializeAdapter::deSerialize(&stop, &commandData, &size, SerializeIF::Endianness::BIG);
    if ((stop - start) <= 0) {
        return INVALID_MRAM_ADDRESSES;
    }
    PLOC_SPV::MramCmd packet(start, stop, PLOC_SPV::MramCmd::MramAction::WIPE);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
    return RETURN_OK;
}

ReturnValue_t PlocSupervisorHandler::prepareDumpMramCmd(const uint8_t* commandData) {
    uint32_t start = 0;
    uint32_t stop = 0;
    size_t size = sizeof(start) + sizeof(stop);
    SerializeAdapter::deSerialize(&start, &commandData, &size, SerializeIF::Endianness::BIG);
    SerializeAdapter::deSerialize(&stop, &commandData, &size, SerializeIF::Endianness::BIG);
    PLOC_SPV::MramCmd packet(start, stop, PLOC_SPV::MramCmd::MramAction::DUMP);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
    if ((stop - start) <= 0) {
        return INVALID_MRAM_ADDRESSES;
    }
    expectedMramDumpPackets = (stop - start) / PLOC_SPV::MAX_DATA_CAPACITY;
    if ((stop - start) % PLOC_SPV::MAX_DATA_CAPACITY) {
        expectedMramDumpPackets++;
    }
    receivedMramDumpPackets = 0;
    return RETURN_OK;
}

void PlocSupervisorHandler::preparePrintCpuStatsCmd(const uint8_t* commandData) {
    uint8_t en = *commandData;
    PLOC_SPV::PrintCpuStats packet(en);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}

void PlocSupervisorHandler::prepareSetDbgVerbosityCmd(const uint8_t* commandData) {
    uint8_t vb = *commandData;
    PLOC_SPV::SetDbgVerbosity packet(vb);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}

void PlocSupervisorHandler::prepareSetGpioCmd(const uint8_t* commandData) {
    uint8_t port = *commandData;
    uint8_t pin = *(commandData + 1);
    uint8_t val = *(commandData + 2);
    PLOC_SPV::SetGpio packet(port, pin, val);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}

void PlocSupervisorHandler::prepareReadGpioCmd(const uint8_t* commandData) {
    uint8_t port = *commandData;
    uint8_t pin = *(commandData + 1);
    PLOC_SPV::ReadGpio packet(port, pin);
    packetToOutBuffer(packet.getWholeData(), packet.getFullSize());
}

void PlocSupervisorHandler::packetToOutBuffer(uint8_t* packetData, size_t fullSize) {
    memcpy(commandBuffer, packetData, fullSize);
    rawPacket = commandBuffer;
    rawPacketLen = fullSize;
    nextReplyId = PLOC_SPV::ACK_REPORT;
}

void PlocSupervisorHandler::disableAllReplies() {

    DeviceReplyMap::iterator iter;

    /* Disable ack reply */
    iter = deviceReplyMap.find(PLOC_SPV::ACK_REPORT);
    DeviceReplyInfo *info = &(iter->second);
    info->delayCycles = 0;
    info->command = deviceCommandMap.end();

    DeviceCommandId_t commandId = getPendingCommand();

    /* If the command expects a telemetry packet the appropriate tm reply will be disabled here */
    switch (commandId) {
    case PLOC_SPV::GET_HK_REPORT: {
        iter = deviceReplyMap.find(PLOC_SPV::GET_HK_REPORT);
        info = &(iter->second);
        info->delayCycles = 0;
        info->command = deviceCommandMap.end();
        break;
    }
    default: {
        break;
    }
    }

    /* We must always disable the execution report reply here */
    disableExeReportReply();
}

void PlocSupervisorHandler::sendFailureReport(DeviceCommandId_t replyId, ReturnValue_t status) {

    DeviceReplyIter iter = deviceReplyMap.find(replyId);

    if (iter == deviceReplyMap.end()) {
        sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply not in reply map" << std::endl;
        return;
    }

    DeviceCommandInfo* info = &(iter->second.command->second);

    if (info == nullptr) {
        sif::debug << "PlocSupervisorHandler::sendFailureReport: Reply has no active command" << std::endl;
        return;
    }

    if (info->sendReplyTo != NO_COMMANDER) {
        actionHelper.finish(false, info->sendReplyTo, iter->first, status);
    }
    info->isExecuting = false;
}

void PlocSupervisorHandler::disableExeReportReply() {
    DeviceReplyIter iter = deviceReplyMap.find(PLOC_SPV::EXE_REPORT);
    DeviceReplyInfo *info = &(iter->second);
    info->delayCycles = 0;
    info->command = deviceCommandMap.end();
    /* Expected replies is set to one here. The value will set to 0 in replyToReply() */
    info->command->second.expectedReplies = 1;
}

ReturnValue_t PlocSupervisorHandler::parseMramPackets(const uint8_t *packet, size_t remainingSize,
        size_t* foundLen) {
    ReturnValue_t result = IGNORE_FULL_PACKET;
    uint16_t packetLen = 0;
    *foundLen = 0;

    for (size_t idx = 0; idx < remainingSize; idx++) {
        std::memcpy(spacePacketBuffer + bufferTop, packet + idx, 1);
        bufferTop += 1;
        *foundLen += 1;
        if (bufferTop >= PLOC_SPV::SPACE_PACKET_HEADER_LENGTH) {
            packetLen = readSpacePacketLength(spacePacketBuffer);
        }

        if (bufferTop == PLOC_SPV::SPACE_PACKET_HEADER_LENGTH + packetLen + 1) {
            packetInBuffer = true;
            bufferTop = 0;
            return checkMramPacketApid();
        }

        if (bufferTop == PLOC_SPV::MAX_PACKET_SIZE) {
            *foundLen = remainingSize;
            disableAllReplies();
            bufferTop = 0;
            return MRAM_PACKET_PARSING_FAILURE;
        }
    }

    return result;
}

ReturnValue_t PlocSupervisorHandler::handleMramDumpPacket() {

    ReturnValue_t result = RETURN_FAILED;

    // Prepare packet for downlink
    if (packetInBuffer) {
        uint16_t packetLen = readSpacePacketLength(spacePacketBuffer);
        result = verifyPacket(spacePacketBuffer, PLOC_SPV::SPACE_PACKET_HEADER_LENGTH + packetLen + 1);
        if (result != RETURN_OK) {
            sif::warning << "PlocSupervisorHandler::handleMramDumpPacket: CRC failure" << std::endl;
            return result;
        }
        handleMramDumpFile();
        if (downlinkMramDump == true) {
            handleDeviceTM(spacePacketBuffer + PLOC_SPV::SPACE_PACKET_HEADER_LENGTH, packetLen - 1,
                    PLOC_SPV::DUMP_MRAM);
        }
        packetInBuffer = false;
        receivedMramDumpPackets++;
        if (expectedMramDumpPackets == receivedMramDumpPackets) {
            nextReplyId = PLOC_SPV::EXE_REPORT;
        }
        increaseExpectedMramReplies();
        return RETURN_OK;
    }
    return result;
}

void PlocSupervisorHandler::increaseExpectedMramReplies() {
    DeviceReplyMap::iterator mramDumpIter = deviceReplyMap.find(PLOC_SPV::DUMP_MRAM);
    DeviceReplyMap::iterator exeReportIter = deviceReplyMap.find(PLOC_SPV::EXE_REPORT);
    if (mramDumpIter == deviceReplyMap.end()) {
        sif::debug << "PlocSupervisorHandler::increaseExpectedMramReplies: Dump MRAM reply not "
                << "in reply map" << std::endl;
        return;
    }
    if (exeReportIter == deviceReplyMap.end()) {
        sif::debug << "PlocSupervisorHandler::increaseExpectedMramReplies: Execution report not "
                << "in reply map" << std::endl;
        return;
    }
    DeviceReplyInfo *mramReplyInfo = &(mramDumpIter->second);
    if (mramReplyInfo == nullptr) {
        sif::debug << "PlocSupervisorHandler::increaseExpectedReplies: MRAM reply info nullptr"
                << std::endl;
        return;
    }
    DeviceReplyInfo *exeReplyInfo = &(exeReportIter->second);
    if (exeReplyInfo == nullptr) {
        sif::debug << "PlocSupervisorHandler::increaseExpectedReplies: Execution reply info"
                << " nullptr" << std::endl;
        return;
    }
    DeviceCommandInfo* info = &(mramReplyInfo->command->second);
    if (info == nullptr){
        sif::debug << "PlocSupervisorHandler::increaseExpectedReplies: Command info nullptr"
                << std::endl;
        return;
    }
    uint8_t sequenceFlags = spacePacketBuffer[2] >> 6;
    if (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::LAST_PKT)
            && (sequenceFlags != static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
        // Command expects at least one MRAM packet more and the execution report
        info->expectedReplies = 2;
        // Wait maximum of 2 cycles for next MRAM packet
        mramReplyInfo->delayCycles = 2;
        // Also adapting delay cycles for execution report
        exeReplyInfo->delayCycles = 3;
    }
    else {
        // Command expects the execution report
        info->expectedReplies = 1;
        mramReplyInfo->delayCycles = 0;
    }
    return;
}

ReturnValue_t PlocSupervisorHandler::checkMramPacketApid() {
    uint16_t apid = (spacePacketBuffer[0] << 8 | spacePacketBuffer[1]) & PLOC_SPV::APID_MASK;
    if (apid != PLOC_SPV::APID_MRAM_DUMP_TM) {
        return NO_MRAM_PACKET;
    }
    return APERIODIC_REPLY;
}

ReturnValue_t PlocSupervisorHandler::handleMramDumpFile() {
    ReturnValue_t result = RETURN_OK;
    uint16_t packetLen = readSpacePacketLength(spacePacketBuffer);
    uint8_t sequenceFlags = readSequenceFlags(spacePacketBuffer);
    if (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::FIRST_PKT)
            || (sequenceFlags == static_cast<uint8_t>(PLOC_SPV::SequenceFlags::STANDALONE_PKT))) {
        result = createMramDumpFile();
        if (result != RETURN_OK) {
            return result;
        }
    }
    if (not std::filesystem::exists(activeMramFile)) {
        sif::warning << "PlocSupervisorHandler::handleMramDumpFile: MRAM file does not exist"
                << std::endl;
        return MRAM_FILE_NOT_EXISTS;
    }
    std::ofstream file(activeMramFile, std::ios_base::app | std::ios_base::out);
    file.write(
            reinterpret_cast<const char*>(spacePacketBuffer + PLOC_SPV::SPACE_PACKET_HEADER_LENGTH),
            packetLen - 1);
    file.close();
    return RETURN_OK;
}

uint16_t PlocSupervisorHandler::readSpacePacketLength(uint8_t* spacePacket) {
    return spacePacket[4] << 8 | spacePacket[5];
}

uint8_t PlocSupervisorHandler::readSequenceFlags(uint8_t* spacePacket) {
    return spacePacketBuffer[2] >> 6;
}

ReturnValue_t PlocSupervisorHandler::createMramDumpFile() {
    ReturnValue_t result = RETURN_OK;
    std::string timeStamp;
    result = getTimeStampString(timeStamp);
    if (result != RETURN_OK) {
        return result;
    }

    std::string filename = "mram-dump--" + timeStamp + ".bin";

#if BOARD_TE0720 == 0
    std::string currentMountPrefix = sdcMan->getCurrentMountPrefix();
#else
    std::string currentMountPrefix("/mnt/sd0");
#endif /* BOARD_TE0720 == 0 */

    // Check if path to PLOC directory exists
    if (not std::filesystem::exists(std::string(currentMountPrefix + "/" + plocFilePath))) {
        sif::warning << "PlocSupervisorHandler::createMramDumpFile: Ploc path does not exist"
                << std::endl;
        return PATH_DOES_NOT_EXIST;
    }
    activeMramFile = currentMountPrefix + "/" + plocFilePath + "/" + filename;
    // Create new file
    std::ofstream file(activeMramFile, std::ios_base::out);
    file.close();

    return RETURN_OK;
}

ReturnValue_t PlocSupervisorHandler::getTimeStampString(std::string& timeStamp) {
    Clock::TimeOfDay_t time;
    ReturnValue_t result = Clock::getDateAndTime(&time);
    if (result != RETURN_OK) {
        sif::warning << "PlocSupervisorHandler::createMramDumpFile: Failed to get current time"
                << std::endl;
        return GET_TIME_FAILURE;
    }
    timeStamp = std::to_string(time.year) + "-" + std::to_string(time.month) + "-"
            + std::to_string(time.day) + "--" + std::to_string(time.hour) + "-"
            + std::to_string(time.minute) + "-" + std::to_string(time.second);
    return RETURN_OK;
}