#include "ObjectFactory.h"

#include "OBSWConfig.h"
#include "bsp_q7s/boardtest/Q7STestTask.h"
#include "bsp_q7s/callbacks/gnssCallback.h"
#include "bsp_q7s/callbacks/pcduSwitchCb.h"
#include "bsp_q7s/callbacks/q7sGpioCallbacks.h"
#include "bsp_q7s/callbacks/rwSpiCallback.h"
#include "bsp_q7s/core/CoreController.h"
#include "bsp_q7s/devices/PlocMemoryDumper.h"
#include "bsp_q7s/devices/PlocSupervisorHandler.h"
#include "bsp_q7s/devices/PlocUpdater.h"
#include "bsp_q7s/memory/FileSystemHandler.h"
#include "busConf.h"
#include "ccsdsConfig.h"
#include "devConf.h"
#include "devices/addresses.h"
#include "devices/gpioIds.h"
#include "devices/powerSwitcherList.h"
#include "fsfw/ipc/QueueFactory.h"
#include "linux/ObjectFactory.h"
#include "linux/boardtest/I2cTestClass.h"
#include "linux/boardtest/SpiTestClass.h"
#include "linux/boardtest/UartTestClass.h"
#include "linux/callbacks/gpioCallbacks.h"
#include "linux/csp/CspComIF.h"
#include "linux/csp/CspCookie.h"
#include "linux/devices/GPSHyperionLinuxController.h"
#include "linux/devices/devicedefinitions/StarTrackerDefinitions.h"
#include "linux/devices/startracker/StarTrackerHandler.h"
#include "linux/devices/startracker/StrHelper.h"
#include "linux/obc/AxiPtmeConfig.h"
#include "linux/obc/PapbVcInterface.h"
#include "linux/obc/PdecHandler.h"
#include "linux/obc/Ptme.h"
#include "linux/obc/PtmeConfig.h"
#include "mission/system/AcsBoardFdir.h"
#include "mission/system/RtdFdir.h"
#include "mission/system/SusAssembly.h"
#include "mission/system/SusFdir.h"
#include "mission/system/TcsBoardAssembly.h"
#include "tmtc/apid.h"
#include "tmtc/pusIds.h"

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

#include <sstream>

#include "fsfw/datapoollocal/LocalDataPoolManager.h"
#include "fsfw/tmtcpacket/pus/tm.h"
#include "fsfw/tmtcservices/CommandingServiceBase.h"
#include "fsfw/tmtcservices/PusServiceBase.h"
#include "fsfw_hal/common/gpio/GpioCookie.h"
#include "fsfw_hal/devicehandlers/GyroL3GD20Handler.h"
#include "fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h"
#include "fsfw_hal/devicehandlers/MgmRM3100Handler.h"
#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
#include "fsfw_hal/linux/i2c/I2cComIF.h"
#include "fsfw_hal/linux/i2c/I2cCookie.h"
#include "fsfw_hal/linux/spi/SpiComIF.h"
#include "fsfw_hal/linux/spi/SpiCookie.h"
#include "fsfw_hal/linux/uart/UartComIF.h"
#include "fsfw_hal/linux/uart/UartCookie.h"
#include "mission/core/GenericFactory.h"
#include "mission/devices/ACUHandler.h"
#include "mission/devices/BpxBatteryHandler.h"
#include "mission/devices/GyroADIS1650XHandler.h"
#include "mission/devices/HeaterHandler.h"
#include "mission/devices/IMTQHandler.h"
#include "mission/devices/Max31865PT1000Handler.h"
#include "mission/devices/P60DockHandler.h"
#include "mission/devices/PCDUHandler.h"
#include "mission/devices/PDU1Handler.h"
#include "mission/devices/PDU2Handler.h"
#include "mission/devices/PayloadPcduHandler.h"
#include "mission/devices/PlocMPSoCHandler.h"
#include "mission/devices/RadiationSensorHandler.h"
#include "mission/devices/RwHandler.h"
#include "mission/devices/SolarArrayDeploymentHandler.h"
#include "mission/devices/SusHandler.h"
#include "mission/devices/SyrlinksHkHandler.h"
#include "mission/devices/Tmp1075Handler.h"
#include "mission/devices/devicedefinitions/GomspaceDefinitions.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/devices/devicedefinitions/PlocMPSoCDefinitions.h"
#include "mission/devices/devicedefinitions/RadSensorDefinitions.h"
#include "mission/devices/devicedefinitions/RwDefinitions.h"
#include "mission/devices/devicedefinitions/SusDefinitions.h"
#include "mission/devices/devicedefinitions/SyrlinksDefinitions.h"
#include "mission/devices/devicedefinitions/payloadPcduDefinitions.h"
#include "mission/system/AcsBoardAssembly.h"
#include "mission/tmtc/CCSDSHandler.h"
#include "mission/tmtc/VirtualChannel.h"
#include "mission/utility/TmFunnel.h"

ResetArgs resetArgsGnss0;
ResetArgs resetArgsGnss1;

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

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

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

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

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

  LocalDataPoolManager::defaultHkDestination = objects::PUS_SERVICE_3_HOUSEKEEPING;

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

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

  LinuxLibgpioIF* gpioComIF = nullptr;
  UartComIF* uartComIF = nullptr;
  SpiComIF* spiComIF = nullptr;
  I2cComIF* i2cComIF = nullptr;
  PowerSwitchIF* pwrSwitcher = nullptr;
  createCommunicationInterfaces(&gpioComIF, &uartComIF, &spiComIF, &i2cComIF);
  createTmpComponents();
#if BOARD_TE0720 == 0
  new CoreController(objects::CORE_CONTROLLER);

  gpioCallbacks::disableAllDecoder(gpioComIF);
  createPcduComponents(gpioComIF, &pwrSwitcher);
  createRadSensorComponent(gpioComIF);
  createSunSensorComponents(gpioComIF, spiComIF, pwrSwitcher, q7s::SPI_DEFAULT_DEV);

#if OBSW_ADD_ACS_BOARD == 1
  createAcsBoardComponents(gpioComIF, uartComIF, pwrSwitcher);
#endif

  createHeaterComponents();
  createSolarArrayDeploymentComponents();
  createPlPcduComponents(gpioComIF, spiComIF);
#if OBSW_ADD_SYRLINKS == 1
  createSyrlinksComponents();
#endif /* OBSW_ADD_SYRLINKS == 1 */
  createRtdComponents(gpioComIF, pwrSwitcher);

#if OBSW_ADD_MGT == 1
  I2cCookie* imtqI2cCookie =
      new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
  auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie);
  static_cast<void>(imtqHandler);
#if OBSW_DEBUG_IMTQ == 1
  imtqHandler->setStartUpImmediately();
  imtqHandler->setToGoToNormal(true);
#else
  (void)imtqHandler;
#endif
#endif
  createReactionWheelComponents(gpioComIF);

#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
  I2cCookie* bpxI2cCookie = new I2cCookie(addresses::BPX_BATTERY, 100, q7s::I2C_DEFAULT_DEV);
  BpxBatteryHandler* bpxHandler =
      new BpxBatteryHandler(objects::BPX_BATT_HANDLER, objects::I2C_COM_IF, bpxI2cCookie);
#if OBSW_TEST_BPX_BATT == 1
  bpxHandler->setToGoToNormalMode(true);
  bpxHandler->setStartUpImmediately();
#else
  static_cast<void>(bpxHandler);
#endif
#endif

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

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

  new FileSystemHandler(objects::FILE_SYSTEM_HANDLER);

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

#endif /* OBSW_ADD_STAR_TRACKER == 1 */

#endif /* TE7020 == 0 */

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

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

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

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

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

void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF, UartComIF** uartComIF,
                                                  SpiComIF** spiComIF, I2cComIF** i2cComIF) {
  if (gpioComIF == nullptr or uartComIF == nullptr or spiComIF == nullptr) {
    sif::error << "ObjectFactory::createCommunicationInterfaces: Invalid passed ComIF pointer"
               << std::endl;
  }
  *gpioComIF = new LinuxLibgpioIF(objects::GPIO_IF);

  /* Communication interfaces */
  new CspComIF(objects::CSP_COM_IF);
  *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
  *uartComIF = new UartComIF(objects::UART_COM_IF);
  *spiComIF = new SpiComIF(objects::SPI_COM_IF, *gpioComIF);

#if BOARD_TE0720 == 0
  /* Adding gpios for chip select decoding to the gpioComIf */
  q7s::gpioCallbacks::initSpiCsDecoder(*gpioComIF);
#endif
}

void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher) {
  CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_LENGTH, addresses::P60DOCK);
  CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU1);
  CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_LENGTH, addresses::PDU2);
  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_LENGTH, addresses::ACU);
  /* Device Handler */
  P60DockHandler* p60dockhandler =
      new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF, p60DockCspCookie);
  PDU1Handler* pdu1handler =
      new PDU1Handler(objects::PDU1_HANDLER, objects::CSP_COM_IF, pdu1CspCookie);
  pdu1handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
  PDU2Handler* pdu2handler =
      new PDU2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF, pdu2CspCookie);
  pdu2handler->assignChannelHookFunction(&pcdu::switchCallback, gpioComIF);
  ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie);
  auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);

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

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

  SpiCookie* spiCookieRadSensor = new SpiCookie(
      addresses::RAD_SENSOR, gpioIds::CS_RAD_SENSOR, std::string(q7s::SPI_DEFAULT_DEV),
      RAD_SENSOR::READ_SIZE, spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);
  auto radSensor = new RadiationSensorHandler(objects::RAD_SENSOR, objects::SPI_COM_IF,
                                              spiCookieRadSensor, gpioComIF);
  static_cast<void>(radSensor);
  // The radiation sensor ADC is powered by the 5V stack connector which should always be on
  radSensor->setStartUpImmediately();
  // It's a simple sensor, so just to to normal mode immediately
  radSensor->setToGoToNormalModeImmediately();
#if OBSW_DEBUG_RAD_SENSOR == 1
  radSensor->enablePeriodicDataPrint(true);
#endif
}

void ObjectFactory::createAcsBoardComponents(LinuxLibgpioIF* gpioComIF, UartComIF* uartComIF,
                                             PowerSwitchIF* pwrSwitcher) {
  using namespace gpio;
  GpioCookie* gpioCookieAcsBoard = new GpioCookie();

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  // Select pin. 0 for GPS side A, 1 for GPS side B
  consumer.str("");
  consumer << "0x" << std::hex << objects::GPS_CONTROLLER;
  gpio = new GpiodRegularByLineName(q7s::gpioNames::GNSS_SELECT, consumer.str(), Direction::OUT,
                                    Levels::LOW);
  gpioCookieAcsBoard->addGpio(gpioIds::GNSS_SELECT, gpio);
  gpioComIF->addGpios(gpioCookieAcsBoard);
  AcsBoardFdir* fdir = nullptr;
  static_cast<void>(fdir);

#if OBSW_ADD_ACS_HANDLERS == 1
  std::string spiDev = q7s::SPI_DEFAULT_DEV;
  SpiCookie* spiCookie =
      new SpiCookie(addresses::MGM_0_LIS3, gpioIds::MGM_0_LIS3_CS, spiDev,
                    MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
  auto mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_0_LIS3_HANDLER, objects::SPI_COM_IF,
                                              spiCookie, spi::LIS3_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::MGM_0_LIS3_HANDLER);
  mgmLis3Handler->setCustomFdir(fdir);
  static_cast<void>(mgmLis3Handler);
#if OBSW_TEST_ACS == 1
  mgmLis3Handler->setStartUpImmediately();
  mgmLis3Handler->setToGoToNormalMode(true);
#endif
#if OBSW_DEBUG_ACS == 1
  mgmLis3Handler->enablePeriodicPrintouts(true, 10);
#endif

  spiCookie =
      new SpiCookie(addresses::MGM_1_RM3100, gpioIds::MGM_1_RM3100_CS, spiDev,
                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
  auto mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_1_RM3100_HANDLER, objects::SPI_COM_IF,
                                               spiCookie, spi::RM3100_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::MGM_1_RM3100_HANDLER);
  mgmRm3100Handler->setCustomFdir(fdir);
  mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
  static_cast<void>(mgmRm3100Handler);
#if OBSW_TEST_ACS == 1
  mgmRm3100Handler->setStartUpImmediately();
  mgmRm3100Handler->setToGoToNormalMode(true);
#endif
#if OBSW_DEBUG_ACS == 1
  mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
#endif

  spiCookie =
      new SpiCookie(addresses::MGM_2_LIS3, gpioIds::MGM_2_LIS3_CS, spiDev,
                    MGMLIS3MDL::MAX_BUFFER_SIZE, spi::DEFAULT_LIS3_MODE, spi::DEFAULT_LIS3_SPEED);
  mgmLis3Handler = new MgmLIS3MDLHandler(objects::MGM_2_LIS3_HANDLER, objects::SPI_COM_IF,
                                         spiCookie, spi::LIS3_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::MGM_2_LIS3_HANDLER);
  mgmLis3Handler->setCustomFdir(fdir);
  mgmLis3Handler->setParent(objects::ACS_BOARD_ASS);
  static_cast<void>(mgmLis3Handler);
#if OBSW_TEST_ACS == 1
  mgmLis3Handler->setStartUpImmediately();
  mgmLis3Handler->setToGoToNormalMode(true);
#endif
#if OBSW_DEBUG_ACS == 1
  mgmLis3Handler->enablePeriodicPrintouts(true, 10);
#endif
  spiCookie =
      new SpiCookie(addresses::MGM_3_RM3100, gpioIds::MGM_3_RM3100_CS, spiDev,
                    RM3100::MAX_BUFFER_SIZE, spi::DEFAULT_RM3100_MODE, spi::DEFAULT_RM3100_SPEED);
  mgmRm3100Handler = new MgmRM3100Handler(objects::MGM_3_RM3100_HANDLER, objects::SPI_COM_IF,
                                          spiCookie, spi::RM3100_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::MGM_3_RM3100_HANDLER);
  mgmRm3100Handler->setCustomFdir(fdir);
  mgmRm3100Handler->setParent(objects::ACS_BOARD_ASS);
#if OBSW_TEST_ACS == 1
  mgmRm3100Handler->setStartUpImmediately();
  mgmRm3100Handler->setToGoToNormalMode(true);
#endif
#if OBSW_DEBUG_ACS == 1
  mgmRm3100Handler->enablePeriodicPrintouts(true, 10);
#endif

  // Commented until ACS board V2 in in clean room again
  // Gyro 0 Side A
  spiCookie = new SpiCookie(addresses::GYRO_0_ADIS, gpioIds::GYRO_0_ADIS_CS, spiDev,
                            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
                            spi::DEFAULT_ADIS16507_SPEED);
  auto adisHandler = new GyroADIS1650XHandler(objects::GYRO_0_ADIS_HANDLER, objects::SPI_COM_IF,
                                              spiCookie, ADIS1650X::Type::ADIS16505);
  fdir = new AcsBoardFdir(objects::GYRO_0_ADIS_HANDLER);
  adisHandler->setCustomFdir(fdir);
  adisHandler->setParent(objects::ACS_BOARD_ASS);
  static_cast<void>(adisHandler);
#if OBSW_TEST_ACS == 1
  adisHandler->setStartUpImmediately();
  adisHandler->setToGoToNormalModeImmediately();
#endif
#if OBSW_DEBUG_ACS == 1
  adisHandler->enablePeriodicPrintouts(true, 10);
#endif

  // Gyro 1 Side A
  spiCookie =
      new SpiCookie(addresses::GYRO_1_L3G, gpioIds::GYRO_1_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
  auto gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_1_L3G_HANDLER, objects::SPI_COM_IF,
                                               spiCookie, spi::L3G_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::GYRO_1_L3G_HANDLER);
  gyroL3gHandler->setCustomFdir(fdir);
  gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
  static_cast<void>(gyroL3gHandler);
#if OBSW_TEST_ACS == 1
  gyroL3gHandler->setStartUpImmediately();
  gyroL3gHandler->setToGoToNormalMode(true);
#endif
#if OBSW_DEBUG_ACS == 1
  gyroL3gHandler->enablePeriodicPrintouts(true, 10);
#endif

  // Gyro 2 Side B
  spiCookie = new SpiCookie(addresses::GYRO_2_ADIS, gpioIds::GYRO_2_ADIS_CS, spiDev,
                            ADIS1650X::MAXIMUM_REPLY_SIZE, spi::DEFAULT_ADIS16507_MODE,
                            spi::DEFAULT_ADIS16507_SPEED);
  adisHandler = new GyroADIS1650XHandler(objects::GYRO_2_ADIS_HANDLER, objects::SPI_COM_IF,
                                         spiCookie, ADIS1650X::Type::ADIS16505);
  fdir = new AcsBoardFdir(objects::GYRO_2_ADIS_HANDLER);
  adisHandler->setCustomFdir(fdir);
  adisHandler->setParent(objects::ACS_BOARD_ASS);
#if OBSW_TEST_ACS == 1
  adisHandler->setStartUpImmediately();
  adisHandler->setToGoToNormalModeImmediately();
#endif
  // Gyro 3 Side B
  spiCookie =
      new SpiCookie(addresses::GYRO_3_L3G, gpioIds::GYRO_3_L3G_CS, spiDev, L3GD20H::MAX_BUFFER_SIZE,
                    spi::DEFAULT_L3G_MODE, spi::DEFAULT_L3G_SPEED);
  gyroL3gHandler = new GyroHandlerL3GD20H(objects::GYRO_3_L3G_HANDLER, objects::SPI_COM_IF,
                                          spiCookie, spi::L3G_TRANSITION_DELAY);
  fdir = new AcsBoardFdir(objects::GYRO_3_L3G_HANDLER);
  gyroL3gHandler->setCustomFdir(fdir);
  gyroL3gHandler->setParent(objects::ACS_BOARD_ASS);
#if OBSW_TEST_ACS == 1
  gyroL3gHandler->setStartUpImmediately();
  gyroL3gHandler->setToGoToNormalMode(true);
#endif
#if OBSW_DEBUG_ACS == 1
  gyroL3gHandler->enablePeriodicPrintouts(true, 10);
#endif

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

  AcsBoardHelper acsBoardHelper = AcsBoardHelper(
      objects::MGM_0_LIS3_HANDLER, objects::MGM_1_RM3100_HANDLER, objects::MGM_2_LIS3_HANDLER,
      objects::MGM_3_RM3100_HANDLER, objects::GYRO_0_ADIS_HANDLER, objects::GYRO_1_L3G_HANDLER,
      objects::GYRO_2_ADIS_HANDLER, objects::GYRO_3_L3G_HANDLER, objects::GPS_CONTROLLER);
  auto acsAss = new AcsBoardAssembly(objects::ACS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
                                     acsBoardHelper, gpioComIF);
  static_cast<void>(acsAss);
#if OBSW_TEST_ACS_BOARD_ASS == 1
  CommandMessage msg;
  ModeMessage::setModeMessage(&msg, ModeMessage::CMD_MODE_COMMAND, DeviceHandlerIF::MODE_NORMAL,
                              duallane::A_SIDE);
  ReturnValue_t result = MessageQueueSenderIF::sendMessage(acsAss->getCommandQueue(), &msg);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::warning << "Sending mode command failed" << std::endl;
  }
#endif
#endif /* OBSW_ADD_ACS_HANDLERS == 1 */
}

void ObjectFactory::createHeaterComponents() {
  using namespace gpio;
  GpioCookie* heaterGpiosCookie = new GpioCookie;
  GpiodRegularByLineName* gpio = nullptr;

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

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

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

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

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

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

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

  new HeaterHandler(objects::HEATER_HANDLER, objects::GPIO_IF, heaterGpiosCookie,
                    objects::PCDU_HANDLER, pcduSwitches::Switches::PDU2_CH3_TCS_BOARD_HEATER_IN_8V);
}

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

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

  // TODO: Find out burn time. For now set to 1000 ms.
  new SolarArrayDeploymentHandler(objects::SOLAR_ARRAY_DEPL_HANDLER, objects::GPIO_IF,
                                  solarArrayDeplCookie, objects::PCDU_HANDLER,
                                  pcduSwitches::Switches::PDU2_CH5_DEPLOYMENT_MECHANISM_8V,
                                  gpioIds::DEPLSA1, gpioIds::DEPLSA2, 1000);
}

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

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

void ObjectFactory::createRtdComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF* pwrSwitcher) {
  using namespace gpio;
  GpioCookie* rtdGpioCookie = new GpioCookie;

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

  gpioComIF->addGpios(rtdGpioCookie);

  static constexpr uint8_t NUMBER_RTDS = 16;
#if OBSW_ADD_RTD_DEVICES == 1
  std::array<std::pair<address_t, gpioId_t>, NUMBER_RTDS> cookieArgs = {{
      {addresses::RTD_IC_3, gpioIds::RTD_IC_3},
      {addresses::RTD_IC_4, gpioIds::RTD_IC_4},
      {addresses::RTD_IC_5, gpioIds::RTD_IC_5},
      {addresses::RTD_IC_6, gpioIds::RTD_IC_6},
      {addresses::RTD_IC_7, gpioIds::RTD_IC_7},
      {addresses::RTD_IC_8, gpioIds::RTD_IC_8},
      {addresses::RTD_IC_9, gpioIds::RTD_IC_9},
      {addresses::RTD_IC_10, gpioIds::RTD_IC_10},
      {addresses::RTD_IC_11, gpioIds::RTD_IC_11},
      {addresses::RTD_IC_12, gpioIds::RTD_IC_12},
      {addresses::RTD_IC_13, gpioIds::RTD_IC_13},
      {addresses::RTD_IC_14, gpioIds::RTD_IC_14},
      {addresses::RTD_IC_15, gpioIds::RTD_IC_15},
      {addresses::RTD_IC_16, gpioIds::RTD_IC_16},
      {addresses::RTD_IC_17, gpioIds::RTD_IC_17},
      {addresses::RTD_IC_18, gpioIds::RTD_IC_18},
  }};
  std::array<object_id_t, NUMBER_RTDS> rtdIds = {
      objects::RTD_IC_3,  objects::RTD_IC_4,  objects::RTD_IC_5,  objects::RTD_IC_6,
      objects::RTD_IC_7,  objects::RTD_IC_8,  objects::RTD_IC_9,  objects::RTD_IC_10,
      objects::RTD_IC_11, objects::RTD_IC_12, objects::RTD_IC_13, objects::RTD_IC_14,
      objects::RTD_IC_15, objects::RTD_IC_16, objects::RTD_IC_17, objects::RTD_IC_18};
  std::array<SpiCookie*, NUMBER_RTDS> rtdCookies = {};
  std::array<Max31865PT1000Handler*, NUMBER_RTDS> rtds = {};
  RtdFdir* rtdFdir = nullptr;
  for (uint8_t idx = 0; idx < NUMBER_RTDS; idx++) {
    rtdCookies[idx] =
        new SpiCookie(cookieArgs[idx].first, cookieArgs[idx].second, q7s::SPI_DEFAULT_DEV,
                      Max31865Definitions::MAX_REPLY_SIZE, spi::RTD_MODE, spi::RTD_SPEED);
    rtds[idx] = new Max31865PT1000Handler(rtdIds[idx], objects::SPI_COM_IF, rtdCookies[idx]);
    rtds[idx]->setParent(objects::TCS_BOARD_ASS);
    rtdFdir = new RtdFdir(rtdIds[idx]);
    rtds[idx]->setCustomFdir(rtdFdir);
    rtds[idx]->setDeviceIdx(idx + 3);
  }

#if OBSW_TEST_RTD == 1
  for (auto& rtd : rtds) {
    if (rtd != nullptr) {
      rtd->setStartUpImmediately();
      rtd->setInstantNormal(true);
    }
  }
#endif  // OBSW_TEST_RTD == 1
  TcsBoardHelper helper(rtdIds);
  TcsBoardAssembly* tcsBoardAss =
      new TcsBoardAssembly(objects::TCS_BOARD_ASS, objects::NO_OBJECT, pwrSwitcher,
                           pcduSwitches::Switches::PDU1_CH0_TCS_BOARD_3V3, helper);
  static_cast<void>(tcsBoardAss);
#endif  // OBSW_ADD_RTD_DEVICES == 1
}

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

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

  gpioComIF->addGpios(gpioCookieRw);

#if OBSW_ADD_RW == 1
  auto rw1SpiCookie =
      new SpiCookie(addresses::RW1, gpioIds::CS_RW1, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
  auto rw2SpiCookie =
      new SpiCookie(addresses::RW2, gpioIds::CS_RW2, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
  auto rw3SpiCookie =
      new SpiCookie(addresses::RW3, gpioIds::CS_RW3, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);
  auto rw4SpiCookie =
      new SpiCookie(addresses::RW4, gpioIds::CS_RW4, q7s::SPI_RW_DEV, RwDefinitions::MAX_REPLY_SIZE,
                    spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback::spiCallback, nullptr);

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

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

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

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

#endif /* OBSW_ADD_RW == 1 */
}

void ObjectFactory::createCcsdsComponents(LinuxLibgpioIF* gpioComIF) {
  using namespace gpio;
  // GPIO definitions of signals connected to the virtual channel interfaces of the PTME IP Core
  GpioCookie* gpioCookiePtmeIp = new GpioCookie;
  GpiodRegularByLineName* gpio = nullptr;
  std::stringstream consumer;
  consumer.str("PAPB VC0");
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC0, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_BUSY, gpio);
  consumer.str("PAPB VC0");
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC0, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC0_PAPB_EMPTY, gpio);
  consumer.str("PAPB VC 1");
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC1, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_BUSY, gpio);
  consumer.str("");
  consumer.str("PAPB VC 1");
  gpioCookiePtmeIp->addGpio(gpioIds::VC1_PAPB_EMPTY, gpio);
  consumer.str("");
  consumer.str("PAPB VC 2");
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC2, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_BUSY, gpio);
  consumer.str("");
  consumer.str("PAPB VC 2");
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC2, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC2_PAPB_EMPTY, gpio);
  consumer.str("");
  consumer.str("PAPB VC 3");
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_BUSY_SIGNAL_VC3, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_BUSY, gpio);
  consumer.str("");
  consumer.str("PAPB VC 3");
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PAPB_EMPTY_SIGNAL_VC3, consumer.str());
  gpioCookiePtmeIp->addGpio(gpioIds::VC3_PAPB_EMPTY, gpio);

  gpioComIF->addGpios(gpioCookiePtmeIp);

  // Creating virtual channel interfaces
  VcInterfaceIF* vc0 =
      new PapbVcInterface(gpioComIF, gpioIds::VC0_PAPB_BUSY, gpioIds::VC0_PAPB_EMPTY, q7s::UIO_PTME,
                          q7s::uiomapids::PTME_VC0);
  VcInterfaceIF* vc1 =
      new PapbVcInterface(gpioComIF, gpioIds::VC1_PAPB_BUSY, gpioIds::VC1_PAPB_EMPTY, q7s::UIO_PTME,
                          q7s::uiomapids::PTME_VC1);
  VcInterfaceIF* vc2 =
      new PapbVcInterface(gpioComIF, gpioIds::VC2_PAPB_BUSY, gpioIds::VC2_PAPB_EMPTY, q7s::UIO_PTME,
                          q7s::uiomapids::PTME_VC2);
  VcInterfaceIF* vc3 =
      new PapbVcInterface(gpioComIF, gpioIds::VC3_PAPB_BUSY, gpioIds::VC3_PAPB_EMPTY, q7s::UIO_PTME,
                          q7s::uiomapids::PTME_VC3);

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

  AxiPtmeConfig* axiPtmeConfig =
      new AxiPtmeConfig(objects::AXI_PTME_CONFIG, q7s::UIO_PTME, q7s::uiomapids::PTME_CONFIG);
  PtmeConfig* ptmeConfig = new PtmeConfig(objects::PTME_CONFIG, axiPtmeConfig);
#if OBSW_ENABLE_SYRLINKS_TRANSMIT_TIMEOUT == 1
  // Set to high value when not sending via syrlinks
  static const uint32_t TRANSMITTER_TIMEOUT = 86400000;  // 1 day
#else
  static const uint32_t TRANSMITTER_TIMEOUT = 900000;  // 15 minutes
#endif
  CCSDSHandler* ccsdsHandler = new CCSDSHandler(
      objects::CCSDS_HANDLER, objects::PTME, objects::CCSDS_PACKET_DISTRIBUTOR, ptmeConfig,
      gpioComIF, gpioIds::RS485_EN_TX_CLOCK, gpioIds::RS485_EN_TX_DATA, TRANSMITTER_TIMEOUT);

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

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

  gpioComIF->addGpios(gpioCookiePdec);

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

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

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

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

void ObjectFactory::createPlPcduComponents(LinuxLibgpioIF* gpioComIF, SpiComIF* spiComIF) {
  using namespace gpio;
  // Create all GPIO components first
  GpioCookie* plPcduGpios = new GpioCookie;
  GpiodRegularByLineName* gpio = nullptr;
  std::string consumer;
  // Switch pins are active high
  consumer = "PLPCDU_ENB_VBAT_0";
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT0, consumer, Direction::OUT,
                                    gpio::Levels::LOW);
  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT0, gpio);
  consumer = "PLPCDU_ENB_VBAT_1";
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_VBAT1, consumer, Direction::OUT,
                                    gpio::Levels::LOW);
  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_VBAT1, gpio);
  consumer = "PLPCDU_ENB_DRO";
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_DRO, consumer, Direction::OUT,
                                    gpio::Levels::LOW);
  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_DRO, gpio);
  consumer = "PLPCDU_ENB_X8";
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_X8, consumer, Direction::OUT,
                                    gpio::Levels::LOW);
  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_X8, gpio);
  consumer = "PLPCDU_ENB_TX";
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_TX, consumer, Direction::OUT,
                                    gpio::Levels::LOW);
  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_TX, gpio);
  consumer = "PLPCDU_ENB_MPA";
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_MPA, consumer, Direction::OUT,
                                    gpio::Levels::LOW);
  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_MPA, gpio);
  consumer = "PLPCDU_ENB_HPA";
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ENABLE_HPA, consumer, Direction::OUT,
                                    gpio::Levels::LOW);
  plPcduGpios->addGpio(gpioIds::PLPCDU_ENB_HPA, gpio);

  // Chip select pin is active low
  consumer = "PLPCDU_ADC_CS";
  gpio = new GpiodRegularByLineName(q7s::gpioNames::PL_PCDU_ADC_CS, consumer, Direction::OUT,
                                    gpio::Levels::HIGH);
  plPcduGpios->addGpio(gpioIds::PLPCDU_ADC_CS, gpio);
  gpioComIF->addGpios(plPcduGpios);
  SpiCookie* spiCookie = new SpiCookie(addresses::PLPCDU_ADC, gpioIds::PLPCDU_ADC_CS,
                                       q7s::SPI_DEFAULT_DEV, plpcdu::MAX_ADC_REPLY_SIZE,
                                       spi::DEFAULT_MAX_1227_MODE, spi::PL_PCDU_MAX_1227_SPEED);
  // Create device handler components
  auto plPcduHandler =
      new PayloadPcduHandler(objects::PLPCDU_HANDLER, objects::SPI_COM_IF, spiCookie, gpioComIF,
                             SdCardManager::instance(), false);
  spiCookie->setCallbackMode(PayloadPcduHandler::extConvAsTwoCallback, plPcduHandler);
  static_cast<void>(plPcduHandler);
#if OBSW_TEST_PL_PCDU == 1
  plPcduHandler->setStartUpImmediately();
#endif
#if OBSW_DEBUG_PL_PCDU == 1
  plPcduHandler->setToGoToNormalModeImmediately(true);
  plPcduHandler->enablePeriodicPrintout(true, 5);
#endif
}

void ObjectFactory::createTestComponents(LinuxLibgpioIF* gpioComIF) {
#if BOARD_TE0720 == 0
  new Q7STestTask(objects::TEST_TASK);
#endif

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

#if BOARD_TE0720 == 1 && OBSW_TEST_SUS == 1
  GpioCookie* gpioCookieSus = new GpioCookie;
  GpiodRegular* chipSelectSus = new GpiodRegular(
      std::string("gpiochip1"), 9, std::string("Chip Select Sus Sensor"), Direction::OUT, 1);
  gpioCookieSus->addGpio(gpioIds::CS_SUS_0, chipSelectSus);
  gpioComIF->addGpios(gpioCookieSus);

  SpiCookie* spiCookieSus =
      new SpiCookie(addresses::SUS_0, std::string("/dev/spidev1.0"), SUS::MAX_CMD_SIZE,
                    spi::DEFAULT_MAX_1227_MODE, spi::DEFAULT_MAX_1227_SPEED);

  new SusHandler(objects::SUS_0, objects::SPI_COM_IF, spiCookieSus, gpioComIF, gpioIds::CS_SUS_0);
#endif

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

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

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

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

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

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

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

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

#if OBSW_ADD_SPI_TEST_CODE == 1
  new SpiTestClass(objects::SPI_TEST, gpioComIF);
#endif
#if OBSW_ADD_I2C_TEST_CODE == 1
  new I2cTestClass(objects::I2C_TEST, q7s::I2C_DEFAULT_DEV);
#endif
#if OBSW_ADD_UART_TEST_CODE == 1
  new UartTestClass(objects::UART_TEST);
#endif
}