#include "OBSWConfig.h"
#include "PDU2Handler.h"

#include <mission/devices/devicedefinitions/GomSpacePackets.h>
#include <fsfw/datapool/PoolReadGuard.h>

PDU2Handler::PDU2Handler(object_id_t objectId, object_id_t comIF, CookieIF * comCookie) :
    GomspaceDeviceHandler(objectId, comIF, comCookie, PDU::MAX_CONFIGTABLE_ADDRESS,
        PDU::MAX_HKTABLE_ADDRESS, PDU::HK_TABLE_REPLY_SIZE, &pdu2HkTableDataset),
    pdu2HkTableDataset(this) {
}

PDU2Handler::~PDU2Handler() {
}

ReturnValue_t PDU2Handler::buildNormalDeviceCommand(
        DeviceCommandId_t * id) {
    *id = GOMSPACE::REQUEST_HK_TABLE;
    return buildCommandFromCommand(*id, NULL, 0);
}

void PDU2Handler::letChildHandleHkReply(DeviceCommandId_t id, const uint8_t *packet) {

    parseHkTableReply(packet);
    /**
     * Hk table will be sent to the commander if hk table request was not triggered by the
     * PDU2Handler itself.
     */
    handleDeviceTM(&pdu2HkTableDataset, id, true);

#if OBSW_VERBOSE_LEVEL >= 1 && OBSW_DEBUG_PDU2 == 1
    pdu2HkTableDataset.read();
    sif::info << "PDU2 Q7S current voltage: " << pdu2HkTableDataset.voltageOutQ7S << " mV" << std::endl;
    sif::info << "PDU2 VCC: " << pdu2HkTableDataset.vcc << " mV" << std::endl;
    float vbat = pdu2HkTableDataset.vbat.value * 0.1;
    sif::info << "PDU2 VBAT: " << vbat << std::endl;
    float temperatureC = pdu2HkTableDataset.temperature.value * 0.1;
    sif::info << "PDU2 Temperature: " << temperatureC << " °C" << std::endl;
    printOutputSwitchStates();
    sif::info << "PDU2 uptime: " << pdu2HkTableDataset.uptime << " seconds" << std::endl;
    sif::info << "PDU2 battery mode: " << unsigned(pdu2HkTableDataset.battMode.value) << std::endl;
    sif::info << "PDU2 ground watchdog reboots: " << pdu2HkTableDataset.gndWdtReboots << std::endl;
    sif::info << "PDU2 ground watchdog timer seconds left: "
            << pdu2HkTableDataset.groundWatchdogSecondsLeft << " seconds" << std::endl;
    sif::info << "PDU2 csp1 watchdog pings before reboot: "
            << unsigned(pdu2HkTableDataset.csp1WatchdogPingsLeft.value) << std::endl;
    sif::info << "PDU2 csp2 watchdog pings before reboot: "
            << unsigned(pdu2HkTableDataset.csp2WatchdogPingsLeft.value) << std::endl;
    pdu2HkTableDataset.commit();
#endif
}

void PDU2Handler::parseHkTableReply(const uint8_t *packet) {
    uint16_t dataOffset = 0;
    pdu2HkTableDataset.read();
    /**
     * Fist 10 bytes contain the gomspace header. Each variable is preceded by the 16-bit table
     * address.
     */
    dataOffset += 12;
    pdu2HkTableDataset.currentOutQ7S = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.currentOutPayloadPCDUCh1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.currentOutReactionWheels = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.currentOutTCSBoardHeaterIn = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.currentOutSUSRedundant = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.currentOutDeplMechanism = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.currentOutPayloadPCDUCh6 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.currentOutACSBoardSideB = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.currentOutPayloadCamera = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;

    pdu2HkTableDataset.voltageOutQ7S = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.voltageOutPayloadPCDUCh1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.voltageOutReactionWheels = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.voltageOutTCSBoardHeaterIn = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.voltageOutSUSRedundant = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.voltageOutDeplMechanism = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.voltageOutPayloadPCDUCh6 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.voltageOutACSBoardSideB = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.voltageOutPayloadCamera = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;

    pdu2HkTableDataset.vcc = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.vbat = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.temperature = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;

    pdu2HkTableDataset.converterEnable1 = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.converterEnable2 = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.converterEnable3 = *(packet + dataOffset);
    dataOffset += 3;

    pdu2HkTableDataset.outEnabledQ7S = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.outEnabledPlPCDUCh1 = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.outEnabledReactionWheels = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.outEnabledTCSBoardHeaterIn = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.outEnabledSUSRedundant = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.outEnabledDeplMechanism = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.outEnabledPlPCDUCh6 = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.outEnabledAcsBoardSideB = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.outEnabledPayloadCamera = *(packet + dataOffset);
    dataOffset += 3;

    pdu2HkTableDataset.bootcause = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
    dataOffset += 6;
    pdu2HkTableDataset.bootcount = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
    dataOffset += 6;
    pdu2HkTableDataset.uptime = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
    dataOffset += 6;
    pdu2HkTableDataset.resetcause = *(packet + dataOffset + 1) << 8 | *(packet + dataOffset);
    dataOffset += 4;
    pdu2HkTableDataset.battMode = *(packet + dataOffset);
    /* +10 because here begins the second gomspace csp packet */
    dataOffset += 3 + 10;

    pdu2HkTableDataset.latchupsQ7S = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.latchupsPayloadPcduCh1 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.latchupsRw = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.latchupsTcsBoardHeaterIn = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.latchupsSusRedundant = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.latchupsDeplMenchanism = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.latchupsPayloadPcduCh6 = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.latchupsAcsBoardSideB = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;
    pdu2HkTableDataset.latchupsPayloadCamera = *(packet + dataOffset) << 8 | *(packet + dataOffset + 1);
    dataOffset += 4;

    pdu2HkTableDataset.device0 = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.device1 = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.device2 = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.device3 = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.device4 = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.device5 = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.device6 = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.device7 = *(packet + dataOffset);
    dataOffset += 3;

    pdu2HkTableDataset.device0Status = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.device1Status = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.device2Status = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.device3Status = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.device4Status = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.device5Status = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.device6Status = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.device7Status = *(packet + dataOffset);
    dataOffset += 3;

    pdu2HkTableDataset.gndWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
    dataOffset += 6;
    pdu2HkTableDataset.i2cWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
    dataOffset += 6;
    pdu2HkTableDataset.canWdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
    dataOffset += 6;
    pdu2HkTableDataset.csp1WdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
    dataOffset += 6;
    pdu2HkTableDataset.csp2WdtReboots = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
    dataOffset += 6;
    pdu2HkTableDataset.groundWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
    dataOffset += 6;
    pdu2HkTableDataset.i2cWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
    dataOffset += 6;
    pdu2HkTableDataset.canWatchdogSecondsLeft = *(packet + dataOffset) << 24 | *(packet + dataOffset + 1) << 16 | *(packet + dataOffset + 2) << 8 | *(packet + dataOffset + 3);
    dataOffset += 6;
    pdu2HkTableDataset.csp1WatchdogPingsLeft = *(packet + dataOffset);
    dataOffset += 3;
    pdu2HkTableDataset.csp2WatchdogPingsLeft = *(packet + dataOffset);

    pdu2HkTableDataset.commit();
    pdu2HkTableDataset.setChanged(true);
}

ReturnValue_t PDU2Handler::initializeLocalDataPool(
        localpool::DataPool &localDataPoolMap, LocalDataPoolManager &poolManager) {

    localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_Q7S, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH1, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_RW, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_TCS_BOARD_HEATER_IN, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_SUS_REDUNDANT, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_DEPLOYMENT_MECHANISM, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_PAYLOAD_PCDU_CH6, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_ACS_BOARD_SIDE_B, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_CURRENT_OUT_PAYLOAD_CAMERA, new PoolEntry<int16_t>( { 0 }));

    localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_Q7S, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH1, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_RW, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_TCS_BOARD_HEATER_IN, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_SUS_REDUNDANT, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_DEPLOYMENT_MECHANISM, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_PAYLOAD_PCDU_CH6, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_ACS_BOARD_SIDE_B, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_VOLTAGE_OUT_PAYLOAD_CAMERA, new PoolEntry<int16_t>( { 0 }));

    localDataPoolMap.emplace(P60System::PDU2_VCC, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_VBAT, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_TEMPERATURE, new PoolEntry<int16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_CONV_EN_1, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_CONV_EN_2, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_CONV_EN_3, new PoolEntry<uint8_t>( { 0 }));

    localDataPoolMap.emplace(P60System::PDU2_OUT_EN_Q7S, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH1, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_OUT_EN_RW, new PoolEntry<uint8_t>( { 0 }));
#if BOARD_TE0720 == 1
    localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>( { 1 }));
#else
    localDataPoolMap.emplace(P60System::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>( { 0 }));
#endif
    localDataPoolMap.emplace(P60System::PDU2_OUT_EN_SUS_REDUNDANT, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_OUT_EN_DEPLOYMENT_MECHANISM, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_PCDU_CH6, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_OUT_EN_ACS_BOARD_SIDE_B, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_OUT_EN_PAYLOAD_CAMERA, new PoolEntry<uint8_t>( { 0 }));

    localDataPoolMap.emplace(P60System::PDU2_BOOTCAUSE, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_BOOTCNT, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_UPTIME, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_RESETCAUSE, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_BATT_MODE, new PoolEntry<uint8_t>( { 0 }));

    localDataPoolMap.emplace(P60System::PDU2_LATCHUP_Q7S, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_LATCHUP_PAYLOAD_PCDU_CH1, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_LATCHUP_RW, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_LATCHUP_TCS_BOARD_HEATER_IN, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_LATCHUP_SUS_REDUNDANT, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_LATCHUP_DEPLOYMENT_MECHANISM, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_LATCHUP_PAYLOAD_PCDU_CH6, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_LATCHUP_ACS_BOARD_SIDE_B, new PoolEntry<uint16_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_LATCHUP_PAYLOAD_CAMERA, new PoolEntry<uint16_t>( { 0 }));

    localDataPoolMap.emplace(P60System::PDU2_DEVICE_0, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_DEVICE_1, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_DEVICE_2, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_DEVICE_3, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_DEVICE_4, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_DEVICE_5, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_DEVICE_6, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_DEVICE_7, new PoolEntry<uint8_t>( { 0 }));

    localDataPoolMap.emplace(P60System::PDU2_DEVICE_0_STATUS, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_DEVICE_1_STATUS, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_DEVICE_2_STATUS, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_DEVICE_3_STATUS, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_DEVICE_4_STATUS, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_DEVICE_5_STATUS, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_DEVICE_6_STATUS, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_DEVICE_7_STATUS, new PoolEntry<uint8_t>( { 0 }));

    localDataPoolMap.emplace(P60System::PDU2_WDT_CNT_GND, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_WDT_CNT_I2C, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_WDT_CNT_CAN, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_WDT_CNT_CSP1, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_WDT_CNT_CSP2, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_WDT_GND_LEFT, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_WDT_I2C_LEFT, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_WDT_CAN_LEFT, new PoolEntry<uint32_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_WDT_CSP_LEFT1, new PoolEntry<uint8_t>( { 0 }));
    localDataPoolMap.emplace(P60System::PDU2_WDT_CSP_LEFT2, new PoolEntry<uint8_t>( { 0 }));

    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
    switch(cmd) {
    case(GOMSPACE::PRINT_ALL): {
        PoolReadGuard pg(&pdu2HkTableDataset);
        ReturnValue_t readResult = pg.getReadResult();
        if(readResult != HasReturnvaluesIF::RETURN_OK) {
            sif::warning << "Reading PDU2 HK table failed!" << std::endl;
            return HasReturnvaluesIF::RETURN_FAILED;
        }
        printOutputSwitchStates();
        printOutputCurrents();
        printOutputVoltages();
        return HasReturnvaluesIF::RETURN_OK;
    }
    case(GOMSPACE::PRINT_OUT_ENB_STATUS): {
        PoolReadGuard pg(&pdu2HkTableDataset);
        ReturnValue_t readResult = pg.getReadResult();
        if(readResult != HasReturnvaluesIF::RETURN_OK) {
            sif::warning << "Reading PDU2 HK table failed!" << std::endl;
            return HasReturnvaluesIF::RETURN_FAILED;
        }
        printOutputSwitchStates();
        return HasReturnvaluesIF::RETURN_OK;
    }
    case(GOMSPACE::PRINT_OUT_CURRENTS): {
        PoolReadGuard pg(&pdu2HkTableDataset);
        ReturnValue_t readResult = pg.getReadResult();
        if(readResult != HasReturnvaluesIF::RETURN_OK) {
            sif::warning << "Reading PDU2 HK table failed!" << std::endl;
            return HasReturnvaluesIF::RETURN_FAILED;
        }
        printOutputCurrents();
        return HasReturnvaluesIF::RETURN_OK;
    }
    case(GOMSPACE::PRINT_OUT_VOLTAGES): {
        PoolReadGuard pg(&pdu2HkTableDataset);
        ReturnValue_t readResult = pg.getReadResult();
        if(readResult != HasReturnvaluesIF::RETURN_OK) {
            sif::warning << "Reading PDU2 HK table failed!" << std::endl;
            return HasReturnvaluesIF::RETURN_FAILED;
        }
        printOutputVoltages();
        return HasReturnvaluesIF::RETURN_OK;
    }
    default: {
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    }
}

void PDU2Handler::printOutputSwitchStates() {
    sif::info << "PDU2 Q7S enable state: " <<
            unsigned(pdu2HkTableDataset.outEnabledQ7S.value) << std::endl;
    sif::info << "PDU2 Payload PCDU channel 1 enable state: "
            << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh1.value) << std::endl;
    sif::info << "PDU2 reaction wheels enable state: "
            << unsigned(pdu2HkTableDataset.outEnabledReactionWheels.value) << std::endl;
    sif::info << "PDU2 TCS Board 8V heater input enable state: "
            << unsigned(pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value) << std::endl;
    sif::info << "PDU2 redundant SUS group enable state: "
            << unsigned(pdu2HkTableDataset.outEnabledSUSRedundant.value) << std::endl;
    sif::info << "PDU2 deployment mechanism enable state: "
            << unsigned(pdu2HkTableDataset.outEnabledDeplMechanism.value) << std::endl;
    sif::info << "PDU2 PCDU channel 6 enable state: "
            << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh6.value) << std::endl;
    sif::info << "PDU2 ACS board side B enable state: "
            << unsigned(pdu2HkTableDataset.outEnabledAcsBoardSideB.value) << std::endl;
    sif::info << "PDU2 payload camera enable state: "
            << unsigned(pdu2HkTableDataset.outEnabledPayloadCamera.value) << std::endl;
}

void PDU2Handler::printOutputCurrents() {
    sif::info << "Printing PDU2 currents [mA]: " << std::endl;
    sif::info << "PDU2 Q7S:" <<
            pdu2HkTableDataset.currentOutQ7S.value << std::endl;
    sif::info << "PDU2 Payload PCDU:" <<
            pdu2HkTableDataset.currentOutPayloadPCDUCh1.value << std::endl;
    sif::info << "PDU2 RW:" <<
            pdu2HkTableDataset.currentOutReactionWheels.value << std::endl;
    sif::info << "PDU2 TCS Board Heater In:" <<
            pdu2HkTableDataset.currentOutTCSBoardHeaterIn.value << std::endl;
    sif::info << "PDU2 SuS Redundant:" <<
            pdu2HkTableDataset.currentOutSUSRedundant.value << std::endl;
    sif::info << "PDU2 Depl-Mechanism:" <<
            pdu2HkTableDataset.currentOutDeplMechanism.value << std::endl;
    sif::info << "PDU2 Payload PCDU:" <<
            pdu2HkTableDataset.currentOutPayloadPCDUCh6.value << std::endl;
    sif::info << "PDU2 ACS Board:" <<
            pdu2HkTableDataset.currentOutACSBoardSideB.value << std::endl;
    sif::info << "PDU2 Payload Camera:" <<
            pdu2HkTableDataset.currentOutPayloadCamera.value << std::endl;
}

void PDU2Handler::printOutputVoltages() {
    sif::info << "Printing PDU2 voltages [mV]: " << std::endl;
    sif::info << "PDU2 Q7S:" <<
            pdu2HkTableDataset.voltageOutQ7S.value << std::endl;
    sif::info << "PDU2 Payload PCDU:" <<
            pdu2HkTableDataset.voltageOutPayloadPCDUCh1.value << std::endl;
    sif::info << "PDU2 RW:" <<
            pdu2HkTableDataset.voltageOutReactionWheels.value << std::endl;
    sif::info << "PDU2 TCS Board Heater In:" <<
            pdu2HkTableDataset.voltageOutTCSBoardHeaterIn.value << std::endl;
    sif::info << "PDU2 SuS Redundant:" <<
            pdu2HkTableDataset.voltageOutSUSRedundant.value << std::endl;
    sif::info << "PDU2 Depl-Mechanism:" <<
            pdu2HkTableDataset.voltageOutDeplMechanism.value << std::endl;
    sif::info << "PDU2 Payload PCDU:" <<
            pdu2HkTableDataset.voltageOutPayloadPCDUCh6.value << std::endl;
    sif::info << "PDU2 ACS Board voltage:" <<
            pdu2HkTableDataset.voltageOutACSBoardSideB.value << std::endl;
    sif::info << "PDU2 Payload Camera voltage:" <<
            pdu2HkTableDataset.voltageOutPayloadCamera.value << std::endl;
}