#include "ThermalController.h"

#include <bsp_q7s/core/CoreDefinitions.h>
#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw_hal/devicehandlers/devicedefinitions/MgmLIS3HandlerDefs.h>
#include <linux/devices/devicedefinitions/StarTrackerDefinitions.h>
#include <mission/devices/devicedefinitions/BpxBatteryDefinitions.h>
#include <mission/devices/devicedefinitions/GomspaceDefinitions.h>
#include <mission/devices/devicedefinitions/GyroADIS1650XDefinitions.h>
#include <mission/devices/devicedefinitions/GyroL3GD20Definitions.h>
#include <mission/devices/devicedefinitions/IMTQHandlerDefinitions.h>
#include <mission/devices/devicedefinitions/RwDefinitions.h>
#include <mission/devices/devicedefinitions/SyrlinksDefinitions.h>
#include <mission/devices/devicedefinitions/payloadPcduDefinitions.h>
#include <objects/systemObjectList.h>

ThermalController::ThermalController(object_id_t objectId, object_id_t parentId)
    : ExtendedControllerBase(objectId, parentId),
      sensorTemperatures(this),
      susTemperatures(this),
      deviceTemperatures(this),
      max31865Set0(objects::RTD_0_IC3_PLOC_HEATSPREADER,
                   EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      max31865Set1(objects::RTD_1_IC4_PLOC_MISSIONBOARD,
                   EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      max31865Set2(objects::RTD_2_IC5_4K_CAMERA, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      max31865Set3(objects::RTD_3_IC6_DAC_HEATSPREADER, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      max31865Set4(objects::RTD_4_IC7_STARTRACKER, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      max31865Set5(objects::RTD_5_IC8_RW1_MX_MY, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      max31865Set6(objects::RTD_6_IC9_DRO, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      max31865Set7(objects::RTD_7_IC10_SCEX, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      max31865Set8(objects::RTD_8_IC11_X8, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      max31865Set9(objects::RTD_9_IC12_HPA, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      max31865Set10(objects::RTD_10_IC13_PL_TX, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      max31865Set11(objects::RTD_11_IC14_MPA, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      max31865Set12(objects::RTD_12_IC15_ACU, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      max31865Set13(objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
                    EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      max31865Set14(objects::RTD_14_IC17_TCS_BOARD, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      max31865Set15(objects::RTD_15_IC18_IMTQ, EiveMax31855::RtdCommands::EXCHANGE_SET_ID),
      tmp1075Set1(objects::TMP1075_HANDLER_1),
      tmp1075Set2(objects::TMP1075_HANDLER_2),
      susSet0(objects::SUS_0_N_LOC_XFYFZM_PT_XF),
      susSet1(objects::SUS_1_N_LOC_XBYFZM_PT_XB),
      susSet2(objects::SUS_2_N_LOC_XFYBZB_PT_YB),
      susSet3(objects::SUS_3_N_LOC_XFYBZF_PT_YF),
      susSet4(objects::SUS_4_N_LOC_XMYFZF_PT_ZF),
      susSet5(objects::SUS_5_N_LOC_XFYMZB_PT_ZB),
      susSet6(objects::SUS_6_R_LOC_XFYBZM_PT_XF),
      susSet7(objects::SUS_7_R_LOC_XBYBZM_PT_XB),
      susSet8(objects::SUS_8_R_LOC_XBYBZB_PT_YB),
      susSet9(objects::SUS_9_R_LOC_XBYBZB_PT_YF),
      susSet10(objects::SUS_10_N_LOC_XMYBZF_PT_ZF),
      susSet11(objects::SUS_11_R_LOC_XBYMZB_PT_ZB) {}

ReturnValue_t ThermalController::initialize() {
  auto result = ExtendedControllerBase::initialize();
  return result;
}

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

void ThermalController::performControlOperation() {
  switch (internalState) {
    case InternalState::STARTUP: {
      initialCountdown.resetTimer();
      internalState = InternalState::INITIAL_DELAY;
      return;
    }
    case InternalState::INITIAL_DELAY: {
      if (initialCountdown.hasTimedOut()) {
        internalState = InternalState::READY;
      }
      return;
    }
    case InternalState::READY: {
      break;
    }
    default:
      break;
  }

  ReturnValue_t result = sensorTemperatures.read();
  if (result == returnvalue::OK) {
    copySensors();
    sensorTemperatures.commit();
  }

  result = susTemperatures.read();
  if (result == returnvalue::OK) {
    copySus();
    susTemperatures.commit();
  }

  result = deviceTemperatures.read();
  if (result == returnvalue::OK) {
    copyDevices();
    deviceTemperatures.commit();
  }
}

ReturnValue_t ThermalController::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                         LocalDataPoolManager& poolManager) {
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLOC_HEATSPREADER,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLOC_MISSIONBOARD,
                           new PoolEntry<float>({1.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_4K_CAMERA,
                           new PoolEntry<float>({2.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_DAC_HEATSPREADER,
                           new PoolEntry<float>({3.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_STARTRACKER,
                           new PoolEntry<float>({4.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_RW1, new PoolEntry<float>({5.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_DRO, new PoolEntry<float>({6.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_SCEX, new PoolEntry<float>({7.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_X8, new PoolEntry<float>({8.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_HPA, new PoolEntry<float>({9.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TX_MODUL,
                           new PoolEntry<float>({10.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_MPA, new PoolEntry<float>({11.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_ACU, new PoolEntry<float>({12.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_PLPCDU_HEATSPREADER,
                           new PoolEntry<float>({13.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TCS_BOARD,
                           new PoolEntry<float>({14.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_MAGNETTORQUER,
                           new PoolEntry<float>({15.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_1,
                           new PoolEntry<float>({15.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SENSOR_TMP1075_2,
                           new PoolEntry<float>({15.0}));

  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_0_N_LOC_XFYFZM_PT_XF,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_6_R_LOC_XFYBZM_PT_XF,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_1_N_LOC_XBYFZM_PT_XB,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_7_R_LOC_XBYBZM_PT_XB,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_2_N_LOC_XFYBZB_PT_YB,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_8_R_LOC_XBYBZB_PT_YB,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_3_N_LOC_XFYBZF_PT_YF,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_9_R_LOC_XBYBZB_PT_YF,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_4_N_LOC_XMYFZF_PT_ZF,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_10_N_LOC_XMYBZF_PT_ZF,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_5_N_LOC_XFYMZB_PT_ZB,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::SUS_11_R_LOC_XBYMZB_PT_ZB,
                           new PoolEntry<float>({0.0}));

  localDataPoolMap.emplace(thermalControllerDefinitions::COMPONENT_RW, new PoolEntry<float>({0.0}));

  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_Q7S, new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::BATTERY_TEMP_1,
                           new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::BATTERY_TEMP_2,
                           new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::BATTERY_TEMP_3,
                           new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::BATTERY_TEMP_4,
                           new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_RW1, new PoolEntry<int32_t>({0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_RW2, new PoolEntry<int32_t>({0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_RW3, new PoolEntry<int32_t>({0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_RW4, new PoolEntry<int32_t>({0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_STAR_TRACKER,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_SYRLINKS_POWER_AMPLIFIER,
                           new PoolEntry<float>({0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_SYRLINKS_BASEBAND_BOARD,
                           new PoolEntry<float>({0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_MGT, new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_ACU, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_PDU1, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_PDU2, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_1_P60DOCK, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_2_P60DOCK, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_GYRO_0_SIDE_A,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_GYRO_1_SIDE_A,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_GYRO_2_SIDE_B,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_GYRO_3_SIDE_B,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_MGM_0_SIDE_A,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_MGM_2_SIDE_B,
                           new PoolEntry<float>({0.0}));
  localDataPoolMap.emplace(thermalControllerDefinitions::TEMP_ADC_PAYLOAD_PCDU,
                           new PoolEntry<float>({0.0}));

  poolManager.subscribeForRegularPeriodicPacket(
      subdp::RegularHkPeriodicParams(sensorTemperatures.getSid(), false, 10.0));
  poolManager.subscribeForRegularPeriodicPacket(
      subdp::RegularHkPeriodicParams(susTemperatures.getSid(), false, 10.0));
  poolManager.subscribeForRegularPeriodicPacket(
      subdp::RegularHkPeriodicParams(deviceTemperatures.getSid(), false, 10.0));
  return returnvalue::OK;
}

LocalPoolDataSetBase* ThermalController::getDataSetHandle(sid_t sid) {
  switch (sid.ownerSetId) {
    case thermalControllerDefinitions::SENSOR_TEMPERATURES:
      return &sensorTemperatures;
    case thermalControllerDefinitions::SUS_TEMPERATURES:
      return &susTemperatures;
    case thermalControllerDefinitions::DEVICE_TEMPERATURES:
      return &deviceTemperatures;
    default:
      return nullptr;
  }
}

ReturnValue_t ThermalController::checkModeCommand(Mode_t mode, Submode_t submode,
                                                  uint32_t* msToReachTheMode) {
  if (submode != SUBMODE_NONE) {
    return INVALID_SUBMODE;
  }
  if ((mode != MODE_OFF) && (mode != MODE_ON) && (mode != MODE_NORMAL)) {
    return INVALID_MODE;
  }
  return returnvalue::OK;
}

void ThermalController::copySensors() {
  PoolReadGuard pg0(&max31865Set0);
  if (pg0.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_ploc_heatspreader.value = max31865Set0.temperatureCelcius.value;
    sensorTemperatures.sensor_ploc_heatspreader.setValid(max31865Set0.temperatureCelcius.isValid());
    if (not sensorTemperatures.sensor_ploc_heatspreader.isValid()) {
      sensorTemperatures.sensor_ploc_heatspreader.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg1(&max31865Set1);
  if (pg1.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_ploc_missionboard.value = max31865Set1.temperatureCelcius.value;
    sensorTemperatures.sensor_ploc_missionboard.setValid(max31865Set1.temperatureCelcius.isValid());
    if (not sensorTemperatures.sensor_ploc_missionboard.isValid()) {
      sensorTemperatures.sensor_ploc_missionboard.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg2(&max31865Set2);
  if (pg2.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_4k_camera.value = max31865Set2.temperatureCelcius.value;
    sensorTemperatures.sensor_4k_camera.setValid(max31865Set2.temperatureCelcius.isValid());
    if (not sensorTemperatures.sensor_4k_camera.isValid()) {
      sensorTemperatures.sensor_4k_camera.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg3(&max31865Set3);
  if (pg3.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_dac_heatspreader.value = max31865Set3.temperatureCelcius.value;
    sensorTemperatures.sensor_dac_heatspreader.setValid(max31865Set3.temperatureCelcius.isValid());
    if (not sensorTemperatures.sensor_dac_heatspreader.isValid()) {
      sensorTemperatures.sensor_dac_heatspreader.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg4(&max31865Set4);
  if (pg4.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_startracker.value = max31865Set4.temperatureCelcius.value;
    sensorTemperatures.sensor_startracker.setValid(max31865Set4.temperatureCelcius.isValid());
    if (not sensorTemperatures.sensor_startracker.isValid()) {
      sensorTemperatures.sensor_startracker.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg5(&max31865Set5);
  if (pg5.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_rw1.value = max31865Set5.temperatureCelcius.value;
    sensorTemperatures.sensor_rw1.setValid(max31865Set5.temperatureCelcius.isValid());
    if (not sensorTemperatures.sensor_rw1.isValid()) {
      sensorTemperatures.sensor_rw1.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg6(&max31865Set6);
  if (pg6.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_dro.value = max31865Set6.temperatureCelcius.value;
    sensorTemperatures.sensor_dro.setValid(max31865Set6.temperatureCelcius.isValid());
    if (not sensorTemperatures.sensor_dro.isValid()) {
      sensorTemperatures.sensor_dro.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg7(&max31865Set7);
  if (pg7.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_scex.value = max31865Set7.temperatureCelcius.value;
    sensorTemperatures.sensor_scex.setValid(max31865Set7.temperatureCelcius.isValid());
    if (not sensorTemperatures.sensor_scex.isValid()) {
      sensorTemperatures.sensor_scex.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg8(&max31865Set8);
  if (pg8.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_x8.value = max31865Set8.temperatureCelcius.value;
    sensorTemperatures.sensor_x8.setValid(max31865Set8.temperatureCelcius.isValid());
    if (not sensorTemperatures.sensor_x8.isValid()) {
      sensorTemperatures.sensor_x8.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg9(&max31865Set9);
  if (pg9.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_hpa.value = max31865Set9.temperatureCelcius.value;
    sensorTemperatures.sensor_hpa.setValid(max31865Set9.temperatureCelcius.isValid());
    if (not sensorTemperatures.sensor_hpa.isValid()) {
      sensorTemperatures.sensor_hpa.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg10(&max31865Set10);
  if (pg10.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_tx_modul.value = max31865Set10.temperatureCelcius.value;
    sensorTemperatures.sensor_tx_modul.setValid(max31865Set10.temperatureCelcius.isValid());
    if (not sensorTemperatures.sensor_tx_modul.isValid()) {
      sensorTemperatures.sensor_tx_modul.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg11(&max31865Set11);
  if (pg11.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_mpa.value = max31865Set11.temperatureCelcius.value;
    sensorTemperatures.sensor_mpa.setValid(max31865Set11.temperatureCelcius.isValid());
    if (not sensorTemperatures.sensor_mpa.isValid()) {
      sensorTemperatures.sensor_mpa.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg12(&max31865Set12);
  if (pg12.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_acu.value = max31865Set12.temperatureCelcius.value;
    sensorTemperatures.sensor_acu.setValid(max31865Set12.temperatureCelcius.isValid());
    if (not sensorTemperatures.sensor_acu.isValid()) {
      sensorTemperatures.sensor_acu.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg13(&max31865Set13);
  if (pg13.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_plpcdu_heatspreader.value = max31865Set13.temperatureCelcius.value;
    sensorTemperatures.sensor_plpcdu_heatspreader.setValid(
        max31865Set13.temperatureCelcius.isValid());
    if (not sensorTemperatures.sensor_plpcdu_heatspreader.isValid()) {
      sensorTemperatures.sensor_plpcdu_heatspreader.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg14(&max31865Set14);
  if (pg14.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_tcs_board.value = max31865Set14.temperatureCelcius.value;
    sensorTemperatures.sensor_tcs_board.setValid(max31865Set14.temperatureCelcius.isValid());
    if (not sensorTemperatures.sensor_tcs_board.isValid()) {
      sensorTemperatures.sensor_tcs_board.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg15(&max31865Set15);
  if (pg15.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_magnettorquer.value = max31865Set15.temperatureCelcius.value;
    sensorTemperatures.sensor_magnettorquer.setValid(max31865Set15.temperatureCelcius.isValid());
    if (not sensorTemperatures.sensor_magnettorquer.isValid()) {
      sensorTemperatures.sensor_magnettorquer.value = INVALID_TEMPERATURE;
    }
  }
  PoolReadGuard pg111(&tmp1075Set1);
  if (pg1.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_tmp1075_1.value = tmp1075Set1.temperatureCelcius.value;
    sensorTemperatures.sensor_tmp1075_1.setValid(tmp1075Set1.temperatureCelcius.isValid());
    if (not tmp1075Set1.temperatureCelcius.isValid()) {
      sensorTemperatures.sensor_tmp1075_1.value = INVALID_TEMPERATURE;
    }
  }
  PoolReadGuard pg112(&tmp1075Set2);
  if (pg2.getReadResult() == returnvalue::OK) {
    sensorTemperatures.sensor_tmp1075_2.value = tmp1075Set2.temperatureCelcius.value;
    sensorTemperatures.sensor_tmp1075_2.setValid(tmp1075Set2.temperatureCelcius.isValid());
    if (not tmp1075Set2.temperatureCelcius.isValid()) {
      sensorTemperatures.sensor_tmp1075_2.value = INVALID_TEMPERATURE;
    }
  }
}

void ThermalController::copySus() {
  PoolReadGuard pg0(&susSet0);
  if (pg0.getReadResult() == returnvalue::OK) {
    susTemperatures.sus_0_n_loc_xfyfzm_pt_xf.value = susSet0.temperatureCelcius.value;
    susTemperatures.sus_0_n_loc_xfyfzm_pt_xf.setValid(susSet0.temperatureCelcius.isValid());
    if (not susTemperatures.sus_0_n_loc_xfyfzm_pt_xf.isValid()) {
      susTemperatures.sus_0_n_loc_xfyfzm_pt_xf.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg1(&susSet1);
  if (pg1.getReadResult() == returnvalue::OK) {
    susTemperatures.sus_6_r_loc_xfybzm_pt_xf.value = susSet1.temperatureCelcius.value;
    susTemperatures.sus_6_r_loc_xfybzm_pt_xf.setValid(susSet1.temperatureCelcius.isValid());
    if (not susTemperatures.sus_6_r_loc_xfybzm_pt_xf.isValid()) {
      susTemperatures.sus_6_r_loc_xfybzm_pt_xf.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg2(&susSet2);
  if (pg2.getReadResult() == returnvalue::OK) {
    susTemperatures.sus_1_n_loc_xbyfzm_pt_xb.value = susSet2.temperatureCelcius.value;
    susTemperatures.sus_1_n_loc_xbyfzm_pt_xb.setValid(susSet2.temperatureCelcius.isValid());
    if (not susTemperatures.sus_1_n_loc_xbyfzm_pt_xb.isValid()) {
      susTemperatures.sus_1_n_loc_xbyfzm_pt_xb.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg3(&susSet3);
  if (pg3.getReadResult() == returnvalue::OK) {
    susTemperatures.sus_7_r_loc_xbybzm_pt_xb.value = susSet3.temperatureCelcius.value;
    susTemperatures.sus_7_r_loc_xbybzm_pt_xb.setValid(susSet3.temperatureCelcius.isValid());
    if (not susTemperatures.sus_7_r_loc_xbybzm_pt_xb.isValid()) {
      susTemperatures.sus_7_r_loc_xbybzm_pt_xb.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg4(&susSet4);
  if (pg4.getReadResult() == returnvalue::OK) {
    susTemperatures.sus_2_n_loc_xfybzb_pt_yb.value = susSet4.temperatureCelcius.value;
    susTemperatures.sus_2_n_loc_xfybzb_pt_yb.setValid(susSet4.temperatureCelcius.isValid());
    if (not susTemperatures.sus_2_n_loc_xfybzb_pt_yb.isValid()) {
      susTemperatures.sus_2_n_loc_xfybzb_pt_yb.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg5(&susSet5);
  if (pg5.getReadResult() == returnvalue::OK) {
    susTemperatures.sus_8_r_loc_xbybzb_pt_yb.value = susSet5.temperatureCelcius.value;
    susTemperatures.sus_8_r_loc_xbybzb_pt_yb.setValid(susSet5.temperatureCelcius.isValid());
    if (not susTemperatures.sus_8_r_loc_xbybzb_pt_yb.isValid()) {
      susTemperatures.sus_8_r_loc_xbybzb_pt_yb.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg6(&susSet6);
  if (pg6.getReadResult() == returnvalue::OK) {
    susTemperatures.sus_3_n_loc_xfybzf_pt_yf.value = susSet6.temperatureCelcius.value;
    susTemperatures.sus_3_n_loc_xfybzf_pt_yf.setValid(susSet6.temperatureCelcius.isValid());
    if (not susTemperatures.sus_3_n_loc_xfybzf_pt_yf.isValid()) {
      susTemperatures.sus_3_n_loc_xfybzf_pt_yf.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg7(&susSet7);
  if (pg7.getReadResult() == returnvalue::OK) {
    susTemperatures.sus_9_r_loc_xbybzb_pt_yf.value = susSet7.temperatureCelcius.value;
    susTemperatures.sus_9_r_loc_xbybzb_pt_yf.setValid(susSet7.temperatureCelcius.isValid());
    if (not susTemperatures.sus_9_r_loc_xbybzb_pt_yf.isValid()) {
      susTemperatures.sus_9_r_loc_xbybzb_pt_yf.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg8(&susSet8);
  if (pg8.getReadResult() == returnvalue::OK) {
    susTemperatures.sus_4_n_loc_xmyfzf_pt_zf.value = susSet8.temperatureCelcius.value;
    susTemperatures.sus_4_n_loc_xmyfzf_pt_zf.setValid(susSet8.temperatureCelcius.isValid());
    if (not susTemperatures.sus_4_n_loc_xmyfzf_pt_zf.isValid()) {
      susTemperatures.sus_4_n_loc_xmyfzf_pt_zf.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg9(&susSet9);
  if (pg9.getReadResult() == returnvalue::OK) {
    susTemperatures.sus_10_n_loc_xmybzf_pt_zf.value = susSet9.temperatureCelcius.value;
    susTemperatures.sus_10_n_loc_xmybzf_pt_zf.setValid(susSet9.temperatureCelcius.isValid());
    if (not susTemperatures.sus_10_n_loc_xmybzf_pt_zf.isValid()) {
      susTemperatures.sus_10_n_loc_xmybzf_pt_zf.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg10(&susSet10);
  if (pg10.getReadResult() == returnvalue::OK) {
    susTemperatures.sus_5_n_loc_xfymzb_pt_zb.value = susSet10.temperatureCelcius.value;
    susTemperatures.sus_5_n_loc_xfymzb_pt_zb.setValid(susSet10.temperatureCelcius.isValid());
    if (not susTemperatures.sus_5_n_loc_xfymzb_pt_zb.isValid()) {
      susTemperatures.sus_5_n_loc_xfymzb_pt_zb.value = INVALID_TEMPERATURE;
    }
  }

  PoolReadGuard pg11(&susSet11);
  if (pg11.getReadResult() == returnvalue::OK) {
    susTemperatures.sus_11_r_loc_xbymzb_pt_zb.value = susSet11.temperatureCelcius.value;
    susTemperatures.sus_11_r_loc_xbymzb_pt_zb.setValid(susSet11.temperatureCelcius.isValid());
    if (not susTemperatures.sus_11_r_loc_xbymzb_pt_zb.isValid()) {
      susTemperatures.sus_11_r_loc_xbymzb_pt_zb.value = INVALID_TEMPERATURE;
    }
  }
}

void ThermalController::copyDevices() {
  lp_var_t<float> tempQ7s = lp_var_t<float>(objects::CORE_CONTROLLER, core::PoolIds::TEMPERATURE);
  ReturnValue_t result = tempQ7s.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read Q7S temperature" << std::endl;
    deviceTemperatures.q7s.setValid(false);
    deviceTemperatures.q7s = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.q7s = tempQ7s;
    deviceTemperatures.q7s.setValid(tempQ7s.isValid());
  }
  result = tempQ7s.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<int16_t> battTemp1 =
      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_1);
  result = battTemp1.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read battery temperature 1" << std::endl;
    deviceTemperatures.batteryTemp1.setValid(false);
    deviceTemperatures.batteryTemp1 = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.batteryTemp1 = battTemp1;
    deviceTemperatures.batteryTemp1.setValid(battTemp1.isValid());
  }
  result = battTemp1.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<int16_t> battTemp2 =
      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_2);
  result = battTemp2.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read battery temperature 2" << std::endl;
    deviceTemperatures.batteryTemp2.setValid(false);
    deviceTemperatures.batteryTemp2 = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.batteryTemp2 = battTemp2;
    deviceTemperatures.batteryTemp2.setValid(battTemp2.isValid());
  }
  result = battTemp2.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<int16_t> battTemp3 =
      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_3);
  result = battTemp3.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read battery temperature 3" << std::endl;
    deviceTemperatures.batteryTemp3.setValid(false);
    deviceTemperatures.batteryTemp3 = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.batteryTemp3 = battTemp3;
    deviceTemperatures.batteryTemp3.setValid(battTemp3.isValid());
  }
  result = battTemp3.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<int16_t> battTemp4 =
      lp_var_t<int16_t>(objects::BPX_BATT_HANDLER, BpxBattery::BATT_TEMP_4);
  result = battTemp4.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read battery temperature 4" << std::endl;
    deviceTemperatures.batteryTemp4.setValid(false);
    deviceTemperatures.batteryTemp4 = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.batteryTemp4 = battTemp4;
    deviceTemperatures.batteryTemp4.setValid(battTemp4.isValid());
  }
  result = battTemp4.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<int32_t> tempRw1 = lp_var_t<int32_t>(objects::RW1, RwDefinitions::TEMPERATURE_C);
  result = tempRw1.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read reaction wheel 1 temperature" << std::endl;
    deviceTemperatures.rw1.setValid(false);
    deviceTemperatures.rw1 = static_cast<int32_t>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.rw1.setValid(tempRw1.isValid());
    deviceTemperatures.rw1 = tempRw1;
  }
  result = tempRw1.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<int32_t> tempRw2 = lp_var_t<int32_t>(objects::RW2, RwDefinitions::TEMPERATURE_C);
  result = tempRw2.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read reaction wheel 2 temperature" << std::endl;
    deviceTemperatures.rw2.setValid(false);
    deviceTemperatures.rw2 = static_cast<int32_t>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.rw2.setValid(tempRw2.isValid());
    deviceTemperatures.rw2 = tempRw2;
  }
  result = tempRw2.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<int32_t> tempRw3 = lp_var_t<int32_t>(objects::RW3, RwDefinitions::TEMPERATURE_C);
  result = tempRw3.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read reaction wheel 3 temperature" << std::endl;
    deviceTemperatures.rw3.setValid(false);
    deviceTemperatures.rw3 = static_cast<int32_t>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.rw3.setValid(tempRw3.isValid());
    deviceTemperatures.rw3 = tempRw3;
  }
  result = tempRw3.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<int32_t> tempRw4 = lp_var_t<int32_t>(objects::RW4, RwDefinitions::TEMPERATURE_C);
  result = tempRw4.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read reaction wheel 4 temperature" << std::endl;
    deviceTemperatures.rw4.setValid(false);
    deviceTemperatures.rw4 = static_cast<int32_t>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.rw4.setValid(tempRw4.isValid());
    deviceTemperatures.rw4 = tempRw4;
  }
  result = tempRw4.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<float> tempStartracker =
      lp_var_t<float>(objects::STAR_TRACKER, startracker::MCU_TEMPERATURE);
  result = tempStartracker.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read startracker temperature" << std::endl;
    deviceTemperatures.startracker.setValid(false);
    deviceTemperatures.startracker = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.startracker.setValid(tempStartracker.isValid());
    deviceTemperatures.startracker = tempStartracker;
  }
  result = tempStartracker.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<float> tempSyrlinksPowerAmplifier =
      lp_var_t<float>(objects::SYRLINKS_HK_HANDLER, syrlinks::TEMP_POWER_AMPLIFIER);
  result = tempSyrlinksPowerAmplifier.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read syrlinks power amplifier temperature"
                 << std::endl;
    deviceTemperatures.syrlinksPowerAmplifier.setValid(false);
    deviceTemperatures.syrlinksPowerAmplifier = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.syrlinksPowerAmplifier.setValid(tempSyrlinksPowerAmplifier.isValid());
    deviceTemperatures.syrlinksPowerAmplifier = tempSyrlinksPowerAmplifier;
  }
  result = tempSyrlinksPowerAmplifier.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<float> tempSyrlinksBasebandBoard =
      lp_var_t<float>(objects::SYRLINKS_HK_HANDLER, syrlinks::TEMP_BASEBAND_BOARD);
  result = tempSyrlinksBasebandBoard.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read syrlinks baseband board temperature"
                 << std::endl;
    deviceTemperatures.syrlinksBasebandBoard.setValid(false);
    deviceTemperatures.syrlinksBasebandBoard = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.syrlinksBasebandBoard.setValid(tempSyrlinksBasebandBoard.isValid());
    deviceTemperatures.syrlinksBasebandBoard = tempSyrlinksBasebandBoard;
  }
  result = tempSyrlinksBasebandBoard.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<int16_t> tempMgt = lp_var_t<int16_t>(objects::IMTQ_HANDLER, IMTQ::MCU_TEMPERATURE);
  result = tempMgt.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read MGT temperature" << std::endl;
    deviceTemperatures.mgt.setValid(false);
    deviceTemperatures.mgt = static_cast<int16_t>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.mgt.setValid(tempMgt.isValid());
    deviceTemperatures.mgt = tempMgt;
  }
  result = tempMgt.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_vec_t<float, 3> tempAcu =
      lp_vec_t<float, 3>(objects::ACU_HANDLER, P60System::pool::ACU_TEMPERATURES);
  result = tempAcu.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read ACU temperatures" << std::endl;
    deviceTemperatures.acu.setValid(false);
    deviceTemperatures.acu[0] = static_cast<float>(INVALID_TEMPERATURE);
    deviceTemperatures.acu[1] = static_cast<float>(INVALID_TEMPERATURE);
    deviceTemperatures.acu[2] = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.acu.setValid(tempAcu.isValid());
    deviceTemperatures.acu = tempAcu;
  }
  result = tempAcu.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<float> tempPdu1 =
      lp_var_t<float>(objects::PDU1_HANDLER, P60System::pool::PDU_TEMPERATURE);
  result = tempPdu1.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read PDU1 temperature" << std::endl;
    deviceTemperatures.pdu1.setValid(false);
    deviceTemperatures.pdu1 = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.pdu1.setValid(tempPdu1.isValid());
    deviceTemperatures.pdu1 = tempPdu1;
  }
  result = tempPdu1.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<float> tempPdu2 =
      lp_var_t<float>(objects::PDU2_HANDLER, P60System::pool::PDU_TEMPERATURE);
  result = tempPdu2.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read PDU2 temperature" << std::endl;
    deviceTemperatures.pdu2.setValid(false);
    deviceTemperatures.pdu2 = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.pdu2.setValid(tempPdu1.isValid());
    deviceTemperatures.pdu2 = tempPdu1;
  }
  result = tempPdu2.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<float> temp1P60dock =
      lp_var_t<float>(objects::P60DOCK_HANDLER, P60System::pool::P60DOCK_TEMPERATURE_1);
  result = temp1P60dock.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read P60 dock temperature 1" << std::endl;
    deviceTemperatures.temp1P60dock.setValid(false);
    deviceTemperatures.temp1P60dock = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.temp1P60dock.setValid(temp1P60dock.isValid());
    deviceTemperatures.temp1P60dock = temp1P60dock;
  }
  result = temp1P60dock.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<float> temp2P60dock =
      lp_var_t<float>(objects::P60DOCK_HANDLER, P60System::pool::P60DOCK_TEMPERATURE_2);
  result = temp2P60dock.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read P60 dock temperature 2" << std::endl;
    deviceTemperatures.temp2P60dock.setValid(false);
    deviceTemperatures.temp2P60dock = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.temp2P60dock.setValid(temp2P60dock.isValid());
    deviceTemperatures.temp2P60dock = temp2P60dock;
  }
  result = temp2P60dock.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<float> tempGyro0 = lp_var_t<float>(objects::GYRO_0_ADIS_HANDLER, ADIS1650X::TEMPERATURE);
  result = tempGyro0.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read gyro 0 temperature" << std::endl;
    deviceTemperatures.gyro0SideA.setValid(false);
    deviceTemperatures.gyro0SideA = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.gyro0SideA.setValid(tempGyro0.isValid());
    deviceTemperatures.gyro0SideA = tempGyro0;
  }
  result = tempGyro0.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<float> tempGyro1 = lp_var_t<float>(objects::GYRO_1_L3G_HANDLER, L3GD20H::TEMPERATURE);
  result = tempGyro1.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read gyro 1 temperature" << std::endl;
    deviceTemperatures.gyro1SideA.setValid(false);
    deviceTemperatures.gyro1SideA = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.gyro1SideA.setValid(tempGyro1.isValid());
    deviceTemperatures.gyro1SideA = tempGyro1;
  }
  result = tempGyro1.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<float> tempGyro2 = lp_var_t<float>(objects::GYRO_2_ADIS_HANDLER, ADIS1650X::TEMPERATURE);
  result = tempGyro2.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read gyro 2 temperature" << std::endl;
    deviceTemperatures.gyro2SideB.setValid(false);
    deviceTemperatures.gyro2SideB = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.gyro2SideB.setValid(tempGyro2.isValid());
    deviceTemperatures.gyro2SideB = tempGyro2;
  }
  result = tempGyro2.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<float> tempGyro3 = lp_var_t<float>(objects::GYRO_3_L3G_HANDLER, L3GD20H::TEMPERATURE);
  result = tempGyro3.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read gyro 3 temperature" << std::endl;
    deviceTemperatures.gyro3SideB.setValid(false);
    deviceTemperatures.gyro3SideB = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.gyro3SideB.setValid(tempGyro3.isValid());
    deviceTemperatures.gyro3SideB = tempGyro3;
  }
  result = tempGyro3.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<float> tempMgm0 =
      lp_var_t<float>(objects::MGM_0_LIS3_HANDLER, MGMLIS3MDL::TEMPERATURE_CELCIUS);
  result = tempMgm0.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read MGM 0 temperature" << std::endl;
    deviceTemperatures.mgm0SideA.setValid(false);
    deviceTemperatures.mgm0SideA = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.mgm0SideA.setValid(tempMgm0.isValid());
    deviceTemperatures.mgm0SideA = tempMgm0;
  }
  result = tempMgm0.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<float> tempMgm2 =
      lp_var_t<float>(objects::MGM_2_LIS3_HANDLER, MGMLIS3MDL::TEMPERATURE_CELCIUS);
  result = tempMgm2.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read MGM 2 temperature" << std::endl;
    deviceTemperatures.mgm2SideB.setValid(false);
    deviceTemperatures.mgm2SideB = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.mgm2SideB.setValid(tempMgm2.isValid());
    deviceTemperatures.mgm2SideB = tempMgm2;
  }
  result = tempMgm2.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
  lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
  result = tempAdcPayloadPcdu.read();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to read payload PCDU ADC temperature" << std::endl;
    deviceTemperatures.adcPayloadPcdu.setValid(false);
    deviceTemperatures.adcPayloadPcdu = static_cast<float>(INVALID_TEMPERATURE);
  } else {
    deviceTemperatures.adcPayloadPcdu.setValid(tempAdcPayloadPcdu.isValid());
    deviceTemperatures.adcPayloadPcdu = tempAdcPayloadPcdu;
  }
  result = tempAdcPayloadPcdu.commit();
  if (result != returnvalue::OK) {
    sif::warning << "ThermalController: Failed to commit" << std::endl;
  }
}