#include "GomspaceDeviceHandler.h"

#include <common/config/commonObjects.h>
#include <fsfw/datapool/PoolReadGuard.h>

#include "devicedefinitions/GomSpacePackets.h"
#include "devicedefinitions/powerDefinitions.h"

GomspaceDeviceHandler::GomspaceDeviceHandler(object_id_t objectId, object_id_t comIF,
                                             CookieIF* comCookie, FailureIsolationBase* customFdir,
                                             uint16_t maxConfigTableAddress,
                                             uint16_t maxHkTableAddress, uint16_t hkTableReplySize)
    : DeviceHandlerBase(objectId, comIF, comCookie, customFdir),
      maxConfigTableAddress(maxConfigTableAddress),
      maxHkTableAddress(maxHkTableAddress),
      hkTableReplySize(hkTableReplySize) {
  if (comCookie == nullptr) {
    sif::error << "GomspaceDeviceHandler::GomspaceDeviceHandler: Invalid com cookie" << std::endl;
  }
}

GomspaceDeviceHandler::~GomspaceDeviceHandler() {}

void GomspaceDeviceHandler::doStartUp() {}

void GomspaceDeviceHandler::doShutDown() {}

ReturnValue_t GomspaceDeviceHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GomspaceDeviceHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GomspaceDeviceHandler::handleAction(PrintSwitchVIAction* action) {
  return printStatus(action->getId());
}
ReturnValue_t GomspaceDeviceHandler::handleAction(PrintLatchupsAction* action) {
  return printStatus(action->getId());
}

void GomspaceDeviceHandler::fillCommandAndReplyMap() {
  this->insertInCommandAndReplyMap(GOMSPACE::PING, 3);
  this->insertInCommandMap(GOMSPACE::REBOOT);
  this->insertInCommandAndReplyMap(GOMSPACE::PARAM_SET, 3);
  this->insertInCommandAndReplyMap(GOMSPACE::PARAM_GET, 3);
  this->insertInCommandAndReplyMap(GOMSPACE::REQUEST_HK_TABLE, 3);
  this->insertInCommandMap(GOMSPACE::GNDWDT_RESET);
  this->insertInCommandMap(GOMSPACE::PRINT_SWITCH_V_I);
  this->insertInCommandMap(GOMSPACE::PRINT_LATCHUPS);
}

ReturnValue_t GomspaceDeviceHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                                  DeviceCommandId_t* foundId, size_t* foundLen) {
  switch (rememberCommandId) {
    case (GOMSPACE::PING):
      *foundId = GOMSPACE::PING;
      *foundLen = PING_REPLY_SIZE;
      rememberCommandId = GOMSPACE::NONE;
      break;
    case (GOMSPACE::PARAM_GET): {
      *foundId = GOMSPACE::PARAM_GET;
      *foundLen = rememberRequestedSize + GOMSPACE::GS_HDR_LENGTH;
      rememberCommandId = GOMSPACE::NONE;
      break;
    }
    case (GOMSPACE::PARAM_SET): {
      *foundId = GOMSPACE::PARAM_SET;
      *foundLen = rememberRequestedSize;
      rememberCommandId = GOMSPACE::NONE;
      break;
    }
    case (GOMSPACE::REQUEST_HK_TABLE): {
      *foundId = GOMSPACE::REQUEST_HK_TABLE;
      *foundLen = rememberRequestedSize + GOMSPACE::GS_HDR_LENGTH;
      rememberCommandId = GOMSPACE::NONE;
      break;
    }
    default:
      return IGNORE_REPLY_DATA;
  }
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GomspaceDeviceHandler::interpretDeviceReply(DeviceCommandId_t id,
                                                          const uint8_t* packet) {
  switch (id) {
    case (GOMSPACE::PING): {
      SerializeElement<uint32_t> replyTime = *packet;
      handleDeviceTM(&replyTime, id, true);
      break;
    }
    case (GOMSPACE::PARAM_GET): {
      // -2 to subtract address size from gomspace parameter reply packet
      uint16_t payloadLength = (*(packet + 2) << 8 | *(packet + 3)) - 2;
      if (payloadLength > sizeof(uint32_t)) {
        sif::error << "GomspaceDeviceHandler: PARAM_GET: Invalid payload "
                   << "size in reply" << std::endl;
        return INVALID_PAYLOAD_SIZE;
      }
      uint8_t tempPayloadBuffer[payloadLength];
      /* Extract information from received data */
      CspGetParamReply cspGetParamReply(tempPayloadBuffer, payloadLength);
      size_t size = GOMSPACE::GS_HDR_LENGTH + payloadLength;
      ReturnValue_t result =
          cspGetParamReply.deSerialize(&packet, &size, SerializeIF::Endianness::BIG);
      if (result != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "GomspaceDeviceHandler: Failed to deserialize get parameter"
                   << "reply" << std::endl;
        return result;
      }
      uint8_t action = cspGetParamReply.getAction();
      uint8_t tableId = cspGetParamReply.getTableId();
      uint16_t address = cspGetParamReply.getAddress();
      /* Pack relevant information into a tm packet */
      ParamReply paramReply(action, tableId, address, payloadLength, tempPayloadBuffer);
      handleDeviceTM(&paramReply, id, true);
      break;
    }
    case (GOMSPACE::PARAM_SET): {
      /* When setting a parameter, the p60dock sends back the state of the
       * operation */
      if (*packet != PARAM_SET_OK) {
        return HasReturnvaluesIF::RETURN_FAILED;
      }
      // TODO fix
      setParamCallback(setParamCacher.getParameter(), setParamCacher.getParameter(), setParamCacher.getParameterSize(), true);
      break;
    }
    case (GOMSPACE::REQUEST_HK_TABLE): {
      letChildHandleHkReply(id, packet);
      break;
    }
    default:
      break;
  }
  return HasReturnvaluesIF::RETURN_OK;
}

void GomspaceDeviceHandler::setNormalDatapoolEntriesInvalid() {}

ReturnValue_t GomspaceDeviceHandler::handleAction(ParamSetAction* action) {
  // This breaks layering but I really don't want to accept this command..
  if (action->address == PDU2::CONFIG_ADDRESS_OUT_EN_Q7S and
      this->getObjectId() == objects::PDU2_HANDLER) {
    triggerEvent(power::SWITCHING_Q7S_DENIED, 0, 0);
    return HasReturnvaluesIF::RETURN_FAILED;
  }
  //cache for later use
  setParamCacher.set(action->address, action->parameter,
                                          static_cast<uint8_t>(action->parameterSize.value));
  ReturnValue_t result = setParamCallback(action->address, action->parameter,
                                          static_cast<uint8_t>(action->parameterSize.value), false);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    return result;
  }
  /* Get and check address */
  if (action->address > maxConfigTableAddress) {
    sif::error << "GomspaceDeviceHandler: Invalid address for set parameter "
               << "action" << std::endl;
    return INVALID_ADDRESS;
  }
  uint16_t checksum = GOMSPACE::IGNORE_CHECKSUM;
  uint16_t seq = 0;
  uint16_t total = 0;
  /* CSP reply only contains the transaction state */
  uint16_t querySize = 1;
  size_t parameterSize = 0;
  uint8_t parameterBytes[4];
  uint8_t* uselessPointer = parameterBytes;
  switch (action->parameterSize.value) {
    case ParamSetAction::ParameterByteSize::ONE_BYTE: {
      if (action->parameter > 255) {
        return INVALID_PARAMETERS;
      }
      uint8_t oneByte = action->parameter.value;
      result = SerializeAdapter::serialize<uint8_t>(&oneByte, &uselessPointer, &parameterSize,
                                                    sizeof(parameterBytes),
                                                    SerializeIF::Endianness::BIG);
      if (result != HasReturnvaluesIF::RETURN_OK) {
        return result;
      }
      parameterSize = 1;
    } break;
    case ParamSetAction::ParameterByteSize::TWO_BYTES: {
      if (action->parameter > 65535) {
        return INVALID_PARAMETERS;
      }
      uint16_t twoBytes = action->parameter.value;
      result = SerializeAdapter::serialize<uint16_t>(&twoBytes, &uselessPointer, &parameterSize,
                                                     sizeof(parameterBytes),
                                                     SerializeIF::Endianness::BIG);
      if (result != HasReturnvaluesIF::RETURN_OK) {
        return result;
      }
      parameterSize = 2;
    } break;
    case ParamSetAction::ParameterByteSize::FOUR_BYTES:
      result = SerializeAdapter::serialize<uint32_t>(&(action->parameter.value), &uselessPointer,
                                                     &parameterSize, sizeof(parameterBytes),
                                                     SerializeIF::Endianness::BIG);
      if (result != HasReturnvaluesIF::RETURN_OK) {
        return result;
      }
      parameterSize = 4;
      break;
  }

  uint16_t payloadlength = sizeof(action->address) + parameterSize;

  /* Generate command for CspComIF */
  CspSetParamCommand setParamCmd(querySize, payloadlength, checksum, seq, total, action->address,
                                 parameterBytes, parameterSize);
  size_t cspPacketLen = 0;
  uint8_t* buffer = cspPacket;
  result = setParamCmd.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
                                 SerializeIF::Endianness::BIG);

  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "GomspaceDeviceHandler: Failed to serialize command for "
               << "CspComIF" << std::endl;
    return result;
  }
  if (cspPacketLen > MAX_PACKET_LEN) {
    sif::error << "GomspaceDeviceHandler: Invalid length of set parameter "
                  "command"
               << std::endl;
    return PACKET_TOO_LONG;
  }
  rawPacket = cspPacket;
  rawPacketLen = cspPacketLen;
  rememberRequestedSize = querySize;
  rememberCommandId = GOMSPACE::PARAM_SET;
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GomspaceDeviceHandler::handleAction(ParamGetAction* action) {
  ReturnValue_t result;
  auto tableId = action->tableId.value;

  /* Get and check address */
  uint16_t address = action->address;
  if (address > maxHkTableAddress && tableId == ParamGetAction::TableId::HK_TABLE_ID) {
    sif::error << "GomspaceDeviceHandler: Invalid address to get parameter from "
               << "housekeeping table" << std::endl;
    return INVALID_ADDRESS;
  }
  if (address > maxConfigTableAddress && tableId == ParamGetAction::TableId::CONFIG_TABLE_ID) {
    sif::error << "GomspaceDeviceHandler: Invalid address to get parameter from "
               << "configuration table" << std::endl;
    return INVALID_ADDRESS;
  }
  uint16_t length = sizeof(address);
  uint16_t checksum = GOMSPACE::IGNORE_CHECKSUM;
  uint16_t seq = 0;
  uint16_t total = 0;
  uint8_t parameterSize = static_cast<uint8_t>(action->parameterSize.value);
  uint16_t querySize = parameterSize + GOMSPACE::GS_HDR_LENGTH;

  /* Generate the CSP command to send to the P60 Dock */
  CspGetParamCommand getParamCmd(querySize, static_cast<uint8_t>(tableId), length, checksum, seq, total, address);
  size_t cspPacketLen = 0;
  uint8_t* buffer = cspPacket;
  result = getParamCmd.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
                                 SerializeIF::Endianness::BIG);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "GomspaceDeviceHandler: Failed to serialize command to "
               << "get parameter" << std::endl;
  }

  // checked by serialize above
  /* if (cspPacketLen > MAX_PACKET_LEN) {
    sif::error << "GomspaceDeviceHandler: Received invalid get parameter "
                  "command"
               << std::endl;
    return PACKET_TOO_LONG;
  }*/
  rawPacket = cspPacket;
  rawPacketLen = cspPacketLen;
  rememberRequestedSize = querySize;
  rememberCommandId = GOMSPACE::PARAM_GET;
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GomspaceDeviceHandler::handleAction(PingAction* action) {
  CspPingCommand cspPingCommand(&action->pingData.value, 1);  // TODO array
  size_t cspPacketLen = 0;
  uint8_t* buffer = cspPacket;
  ReturnValue_t result = cspPingCommand.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
                                                  SerializeIF::Endianness::BIG);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "GomspaceDeviceHandler: Failed to serialize ping command" << std::endl;
    return result;
  }
  /* Checked by the serialize function
  if (cspPacketLen > MAX_PACKET_LEN) {
    sif::error << "GomspaceDeviceHandler: Received invalid ping message" << std::endl;
    return PACKET_TOO_LONG;
  }*/
  rawPacket = cspPacket;
  rawPacketLen = cspPacketLen;
  rememberCommandId = GOMSPACE::PING;
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GomspaceDeviceHandler::handleAction(RebootAction* action) {
  uint8_t cspPort = GOMSPACE::REBOOT_PORT;
  uint16_t querySize = 0;
  *cspPacket = GOMSPACE::REBOOT_PORT;
  // TODO the following two lines look strange...
  *(cspPacket + 1) = querySize;
  size_t cspPacketLen = sizeof(cspPort) + sizeof(cspPacketLen);
  rawPacket = cspPacket;
  rawPacketLen = cspPacketLen;
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GomspaceDeviceHandler::childCommandHook(DeviceCommandId_t cmd,
                                                      const uint8_t* commandData,
                                                      size_t commandDataLen) {
  return DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
}

ReturnValue_t GomspaceDeviceHandler::setParamCallback(uint16_t address, uint32_t value,
                                                      uint8_t valueBytes, bool afterExecution) {
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GomspaceDeviceHandler::initializePduPool(
    localpool::DataPool& localDataPoolMap, LocalDataPoolManager& poolManager,
    std::array<uint8_t, PDU::CHANNELS_LEN> initOutEnb) {
  localDataPoolMap.emplace(P60System::pool::PDU_CURRENTS, new PoolEntry<int16_t>(9));
  localDataPoolMap.emplace(P60System::pool::PDU_VOLTAGES, new PoolEntry<int16_t>(9));

  localDataPoolMap.emplace(P60System::pool::PDU_VCC, new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(P60System::pool::PDU_VBAT, new PoolEntry<int16_t>({0}));
  localDataPoolMap.emplace(P60System::pool::PDU_TEMPERATURE, new PoolEntry<float>({0}));
  localDataPoolMap.emplace(P60System::pool::PDU_CONV_EN, new PoolEntry<uint8_t>(3));

  localDataPoolMap.emplace(P60System::pool::PDU_OUT_ENABLE,
                           new PoolEntry<uint8_t>(initOutEnb.data(), initOutEnb.size()));

  localDataPoolMap.emplace(P60System::pool::PDU_BOOTCAUSE, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(P60System::pool::PDU_BOOTCNT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(P60System::pool::PDU_UPTIME, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(P60System::pool::PDU_RESETCAUSE, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(P60System::pool::PDU_BATT_MODE, new PoolEntry<uint8_t>({0}));

  localDataPoolMap.emplace(P60System::pool::PDU_LATCHUPS, new PoolEntry<uint16_t>(9));

  localDataPoolMap.emplace(P60System::pool::PDU_DEVICES, new PoolEntry<uint8_t>(8));
  localDataPoolMap.emplace(P60System::pool::PDU_STATUSES, new PoolEntry<uint8_t>(8));

  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CNT_I2C, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CNT_CAN, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CNT_CSP1, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CNT_CSP2, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(P60System::pool::PDU_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(P60System::pool::PDU_WDT_I2C_LEFT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CAN_LEFT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CSP_LEFT1, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(P60System::pool::PDU_WDT_CSP_LEFT2, new PoolEntry<uint8_t>({0}));
  return RETURN_OK;
}

ReturnValue_t GomspaceDeviceHandler::handleAction(GndwdtResetAction* action) {
  WatchdogResetCommand watchdogResetCommand;
  size_t cspPacketLen = 0;
  uint8_t* buffer = cspPacket;
  ReturnValue_t result = watchdogResetCommand.serialize(&buffer, &cspPacketLen, sizeof(cspPacket),
                                                        SerializeIF::Endianness::BIG);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "GomspaceDeviceHandler: Failed to serialize watchdog reset "
               << "command" << std::endl;
    return result;
  }
  rawPacket = cspPacket;
  rawPacketLen = cspPacketLen;
  rememberRequestedSize = 0;  // No bytes will be queried with the ground
  // watchdog command.
  rememberCommandId = GOMSPACE::GNDWDT_RESET;
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GomspaceDeviceHandler::handleAction(RequestHkTableAction* action) {
  uint16_t querySize = hkTableReplySize;
  uint8_t tableId = static_cast<uint8_t>(ParamGetAction::TableId::HK_TABLE_ID);
  RequestFullTableCommand requestFullTableCommand(querySize, tableId);

  size_t cspPacketLen = 0;
  uint8_t* buffer = cspPacket;
  ReturnValue_t result = requestFullTableCommand.serialize(
      &buffer, &cspPacketLen, sizeof(cspPacket), SerializeIF::Endianness::BIG);
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "GomspaceDeviceHandler::generateRequestFullHkTableCmd Failed to serialize "
                  "full table request command "
               << std::endl;
    return result;
  }
  rawPacket = cspPacket;
  rawPacketLen = cspPacketLen;
  rememberRequestedSize = querySize;
  rememberCommandId = GOMSPACE::REQUEST_HK_TABLE;
  return RETURN_OK;
}

uint32_t GomspaceDeviceHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 0; }

void GomspaceDeviceHandler::setModeNormal() { mode = MODE_NORMAL; }

ReturnValue_t GomspaceDeviceHandler::printStatus(DeviceCommandId_t cmd) {
  sif::info << "No printHkTable implementation given.." << std::endl;
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t GomspaceDeviceHandler::parsePduHkTable(PDU::PduCoreHk& coreHk, PDU::PduAuxHk& auxHk,
                                                     const uint8_t* packet) {
  uint16_t dataOffset = 0;
  PoolReadGuard pg0(&coreHk);
  PoolReadGuard pg1(&auxHk);
  if (pg0.getReadResult() != HasReturnvaluesIF::RETURN_OK or
      pg1.getReadResult() != HasReturnvaluesIF::RETURN_OK) {
    sif::warning << "Reading PDU1 datasets failed!" << std::endl;
    return HasReturnvaluesIF::RETURN_FAILED;
  }
  /* Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
   * address. */
  dataOffset += 12;
  for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
    coreHk.currents[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
    dataOffset += 4;
  }
  for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
    coreHk.voltages[idx] = (packet[dataOffset] << 8) | packet[dataOffset + 1];
    dataOffset += 4;
  }

  auxHk.vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  auxHk.vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
  dataOffset += 4;
  coreHk.temperature =
      static_cast<int16_t>(*(packet + dataOffset) << 8 | *(packet + dataOffset + 1)) * 0.1;
  dataOffset += 4;

  for (uint8_t idx = 0; idx < 3; idx++) {
    auxHk.converterEnable[idx] = packet[dataOffset];
    dataOffset += 3;
  }

  for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
    coreHk.outputEnables[idx] = packet[dataOffset];
    dataOffset += 3;
  }

  auxHk.bootcause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                    *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  coreHk.bootcount = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                     *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  auxHk.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  auxHk.resetcause = *(packet + dataOffset + 1) << 8 | *(packet + dataOffset);
  dataOffset += 4;
  coreHk.battMode = *(packet + dataOffset);
  /* +10 because here begins the second gomspace csp packet */
  dataOffset += 3 + 10;

  for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
    auxHk.latchups[idx] = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
  }

  for (uint8_t idx = 0; idx < PDU::DEVICES_NUM; idx++) {
    auxHk.deviceTypes[idx] = *(packet + dataOffset);
    dataOffset += 3;
  }
  for (uint8_t idx = 0; idx < PDU::DEVICES_NUM; idx++) {
    auxHk.devicesStatus[idx] = *(packet + dataOffset);
    dataOffset += 3;
  }

  auxHk.gndWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                        *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  auxHk.i2cWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                        *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  auxHk.canWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                        *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  auxHk.csp1WdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                         *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  auxHk.csp2WdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                         *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  auxHk.groundWatchdogSecondsLeft = *(packet + dataOffset) << 24 |
                                    *(packet + dataOffset + 1) << 16 |
                                    *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  auxHk.i2cWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  auxHk.canWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 |
                                 *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
  dataOffset += 6;
  auxHk.csp1WatchdogPingsLeft = *(packet + dataOffset);
  dataOffset += 3;
  auxHk.csp2WatchdogPingsLeft = *(packet + dataOffset);

  coreHk.setChanged(true);
  if (not coreHk.isValid()) {
    coreHk.setValidity(true, true);
  }
  if (not auxHk.isValid()) {
    auxHk.setValidity(true, true);
  }
  return RETURN_OK;
}