#include "pollingSequenceFactory.h"

#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/objectmanager/ObjectManagerIF.h>
#include <fsfw/serviceinterface/ServiceInterfaceStream.h>
#include <fsfw/tasks/FixedTimeslotTaskIF.h>

#ifndef RPI_TEST_ADIS16507
#define RPI_TEST_ADIS16507 0
#endif

#ifndef RPI_TEST_GPS_HANDLER
#define RPI_TEST_GPS_HANDLER 0
#endif

ReturnValue_t pst::pstGpio(FixedTimeslotTaskIF *thisSequence) {
  // Length of a communication cycle
  uint32_t length = thisSequence->getPeriodMs();

  thisSequence->addSlot(objects::HEATER_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::SOLAR_ARRAY_DEPL_HANDLER, length * 0,
                        DeviceHandlerIF::PERFORM_OPERATION);

  if (thisSequence->checkSequence() == HasReturnvaluesIF::RETURN_OK) {
    return HasReturnvaluesIF::RETURN_OK;
  }

  sif::error << "PollingSequence::initialize has errors!" << std::endl;
  return HasReturnvaluesIF::RETURN_FAILED;
}

ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
  uint32_t length = thisSequence->getPeriodMs();
  static_cast<void>(length);
#if OBSW_ADD_PL_PCDU == 1
  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_TMP_DEVICES == 1
  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
#endif
#if OBSW_ADD_RTD_DEVICES == 1
  thisSequence->addSlot(objects::RTD_IC_3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RTD_IC_4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RTD_IC_5, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RTD_IC_6, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RTD_IC_7, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RTD_IC_8, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RTD_IC_9, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RTD_IC_10, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RTD_IC_11, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RTD_IC_12, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RTD_IC_13, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RTD_IC_14, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RTD_IC_15, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RTD_IC_16, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RTD_IC_17, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RTD_IC_18, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
#endif /* OBSW_ADD_RTD_DEVICES */

#if OBSW_ADD_TMP_DEVICES == 1
  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
#endif
#if OBSW_ADD_RTD_DEVICES == 1
  thisSequence->addSlot(objects::RTD_IC_3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RTD_IC_4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RTD_IC_5, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RTD_IC_6, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RTD_IC_7, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RTD_IC_8, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RTD_IC_9, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RTD_IC_10, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RTD_IC_11, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RTD_IC_12, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RTD_IC_13, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RTD_IC_14, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RTD_IC_15, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RTD_IC_16, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RTD_IC_17, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RTD_IC_18, length * 0.2, DeviceHandlerIF::SEND_WRITE);
#endif /* OBSW_ADD_RTD_DEVICES */

#if OBSW_ADD_TMP_DEVICES == 1
  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
#endif
#if OBSW_ADD_RTD_DEVICES == 1
  thisSequence->addSlot(objects::RTD_IC_3, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RTD_IC_4, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RTD_IC_5, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RTD_IC_6, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RTD_IC_7, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RTD_IC_8, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RTD_IC_9, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RTD_IC_10, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RTD_IC_11, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RTD_IC_12, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RTD_IC_13, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RTD_IC_14, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RTD_IC_15, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RTD_IC_16, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RTD_IC_17, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RTD_IC_18, length * 0.4, DeviceHandlerIF::GET_WRITE);
#endif /* OBSW_ADD_RTD_DEVICES */

#if OBSW_ADD_TMP_DEVICES == 1
  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);
#endif
#if OBSW_ADD_RTD_DEVICES == 1
  thisSequence->addSlot(objects::RTD_IC_3, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RTD_IC_4, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RTD_IC_5, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RTD_IC_6, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RTD_IC_7, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RTD_IC_8, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RTD_IC_9, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RTD_IC_10, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RTD_IC_11, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RTD_IC_12, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RTD_IC_13, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RTD_IC_14, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RTD_IC_15, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RTD_IC_16, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RTD_IC_17, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RTD_IC_18, length * 0.6, DeviceHandlerIF::SEND_READ);
#endif /* OBSW_ADD_RTD_DEVICES */

#if OBSW_ADD_TMP_DEVICES == 1
  thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_RTD_DEVICES == 1
  thisSequence->addSlot(objects::RTD_IC_3, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RTD_IC_4, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RTD_IC_5, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RTD_IC_6, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RTD_IC_7, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RTD_IC_8, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RTD_IC_9, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RTD_IC_10, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RTD_IC_11, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RTD_IC_12, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RTD_IC_13, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RTD_IC_14, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RTD_IC_15, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RTD_IC_16, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RTD_IC_17, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RTD_IC_18, length * 0.8, DeviceHandlerIF::GET_READ);
#endif /* OBSW_ADD_RTD_DEVICES */

#if OBSW_ADD_RAD_SENSORS == 1
  /* Radiation sensor */
  thisSequence->addSlot(objects::RAD_SENSOR, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RAD_SENSOR, length * 0.8, DeviceHandlerIF::GET_READ);
#endif

#if OBSW_ADD_SUN_SENSORS == 1

  bool addSus0 = true;
  bool addSus1 = true;
  bool addSus2 = true;
  bool addSus3 = true;
  bool addSus4 = true;
  bool addSus5 = true;
  bool addSus6 = true;
  bool addSus7 = true;
  bool addSus8 = true;
  bool addSus9 = true;
  bool addSus10 = true;
  bool addSus11 = true;
  /**
   * The sun sensor will be shutdown as soon as the chip select is pulled high. Thus all
   * requests to a sun sensor must be performed consecutively. Another reason for calling multiple
   * device handler cycles is that the ADC conversions take some time. Thus first the ADC
   * conversions are initiated and in a next step the results can be read from the internal FIFO.
   * One sun sensor communication sequence also blocks the SPI bus. So other devices can not be
   * inserted between the device handler cycles of one SUS.
   */
  if (addSus0) {
    /* Write setup */
    thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_0, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_0, length * 0.4, DeviceHandlerIF::GET_READ);
  }
  if (addSus1) {
    thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_READ);
  }
  if (addSus2) {
    thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_2, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_2, length * 0.4, DeviceHandlerIF::GET_READ);
  }
  if (addSus3) {
    thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_3, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_3, length * 0.4, DeviceHandlerIF::GET_READ);
  }
  if (addSus4) {
    thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_4, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_4, length * 0.4, DeviceHandlerIF::GET_READ);
  }
  if (addSus5) {
    thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_5, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_5, length * 0.4, DeviceHandlerIF::GET_READ);
  }

  if (addSus6) {
    thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_6, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_6, length * 0.4, DeviceHandlerIF::GET_READ);
  }

  if (addSus7) {
    thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_7, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_7, length * 0.4, DeviceHandlerIF::GET_READ);
  }

  if (addSus8) {
    thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_8, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_READ);
  }

  if (addSus9) {
    thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_9, length * 0, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_9, length * 0.4, DeviceHandlerIF::GET_READ);
  }

  if (addSus10) {
    thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_10, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_10, length * 0.4, DeviceHandlerIF::GET_READ);
  }

  if (addSus11) {
    thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_11, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_11, length * 0.4, DeviceHandlerIF::GET_READ);
  }
#endif /* OBSW_ADD_SUN_SENSORS == 1 */

#if OBSW_ADD_RW == 1
  thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RW1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RW1, length * 0.5, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RW1, length * 0.65, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RW1, length * 0.8, DeviceHandlerIF::GET_READ);

  thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RW2, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RW2, length * 0.5, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RW2, length * 0.65, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);

  thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RW3, length * 0.5, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RW3, length * 0.65, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);

  thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RW4, length * 0.5, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RW4, length * 0.65, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
#endif

#if OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1
  bool enableAside = true;
  bool enableBside = true;
  if (enableAside) {
    // A side
    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.25,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
  }

  if (enableBside) {
    // B side
    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.25,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.25, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.7, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85, DeviceHandlerIF::GET_READ);
  }
#endif /* OBSW_ADD_ACS_BOARD == 1 && OBSW_ADD_ACS_HANDLERS == 1 */

  return thisSequence->checkSequence();
}

ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
  // Length of a communication cycle
  uint32_t length = thisSequence->getPeriodMs();
  static_cast<void>(length);
#if OBSW_ADD_MGT == 1
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
  static_cast<void>(length);
  return thisSequence->checkSequence();
}

ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
  // Length of a communication cycle
  uint32_t length = thisSequence->getPeriodMs();
  bool uartPstEmpty = true;

#if OBSW_ADD_PLOC_MPSOC == 1
  uartPstEmpty = false;
  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0,
                        DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::PLOC_MPSOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif

#ifdef XIPHOS_Q7S
  thisSequence->addSlot(objects::PLOC_UPDATER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::PLOC_MEMORY_DUMPER, length * 0,
                        DeviceHandlerIF::PERFORM_OPERATION);
#endif
#if OBSW_ADD_PLOC_SUPERVISOR == 1
  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0,
                        DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.2,
                        DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif

#if OBSW_ADD_SYRLINKS == 1
  uartPstEmpty = false;
  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
                        DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif

#if OBSW_ADD_STAR_TRACKER == 1
  uartPstEmpty = false;
  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::STAR_TRACKER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif
  static_cast<void>(length);
  if (uartPstEmpty) {
    return HasReturnvaluesIF::RETURN_OK;
  }
  if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "UART PST initialization failed" << std::endl;
    return HasReturnvaluesIF::RETURN_FAILED;
  }
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t pst::pstGompaceCan(FixedTimeslotTaskIF *thisSequence) {
  uint32_t length = thisSequence->getPeriodMs();
#ifndef TE0720_1CFA
#if Q7S_EM != 1
  // PCDU handlers receives two messages and both must be handled
  thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::PCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);

  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::ACU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);

  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::ACU_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);

  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::ACU_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);

  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::ACU_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);

  thisSequence->addSlot(objects::P60DOCK_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::PDU1_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::PDU2_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::ACU_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
  if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "GomSpace PST initialization failed" << std::endl;
    return HasReturnvaluesIF::RETURN_FAILED;
  }
#endif /* Q7S_EM == 0 */
#endif
  static_cast<void>(length);
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t pst::pstTest(FixedTimeslotTaskIF *thisSequence) {
  /* Length of a communication cycle */
  uint32_t length = thisSequence->getPeriodMs();
  bool notEmpty = false;

#if RPI_TEST_ADIS16507 == 1
  notEmpty = true;
  thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0,
                        DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif

#if RPI_TEST_GPS_HANDLER == 1
  notEmpty = true;
  thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);

  thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::GPS0_HANDLER, length * 0, DeviceHandlerIF::GET_READ);

  thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.5, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.5, DeviceHandlerIF::GET_READ);
#endif
  static_cast<void>(length);
  if (not notEmpty) {
    return HasReturnvaluesIF::RETURN_FAILED;
  }
  if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
    sif::error << "Test PST initialization failed" << std::endl;
    return HasReturnvaluesIF::RETURN_FAILED;
  }
  return HasReturnvaluesIF::RETURN_OK;
}