#include "pollingSequenceFactory.h"
#include "linux/devices/SusHandler.h"
#include "OBSWConfig.h"

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


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_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_IC3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::RTD_IC4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::RTD_IC5, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::RTD_IC6, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::RTD_IC7, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::RTD_IC8, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::RTD_IC9, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::RTD_IC10, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::RTD_IC11, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::RTD_IC12, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::RTD_IC13, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::RTD_IC14, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::RTD_IC15, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::RTD_IC16, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::RTD_IC17, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::RTD_IC18, 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_IC3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::RTD_IC4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::RTD_IC5, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::RTD_IC6, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::RTD_IC7, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::RTD_IC8, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::RTD_IC9, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::RTD_IC10, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::RTD_IC11, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::RTD_IC12, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::RTD_IC13, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::RTD_IC14, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::RTD_IC15, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::RTD_IC16, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::RTD_IC17, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::RTD_IC18, 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_IC3, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RTD_IC4, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RTD_IC5, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RTD_IC6, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RTD_IC7, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RTD_IC8, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RTD_IC9, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RTD_IC10, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RTD_IC11, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RTD_IC12, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RTD_IC13, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RTD_IC14, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RTD_IC15, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RTD_IC16, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RTD_IC17, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RTD_IC18, 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_IC3, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RTD_IC4, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RTD_IC5, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RTD_IC6, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RTD_IC7, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RTD_IC8, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RTD_IC9, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RTD_IC10, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RTD_IC11, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RTD_IC12, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RTD_IC13, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RTD_IC14, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RTD_IC15, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RTD_IC16, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RTD_IC17, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RTD_IC18, 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_IC3, length * 0.8, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::RTD_IC4, length * 0.8, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::RTD_IC5, length * 0.8, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::RTD_IC6, length * 0.8, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::RTD_IC7, length * 0.8, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::RTD_IC8, length * 0.8, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::RTD_IC9, length * 0.8, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::RTD_IC10, length * 0.8, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::RTD_IC11, length * 0.8, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::RTD_IC12, length * 0.8, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::RTD_IC13, length * 0.8, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::RTD_IC14, length * 0.8, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::RTD_IC15, length * 0.8, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::RTD_IC16, length * 0.8, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::RTD_IC17, length * 0.8, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::RTD_IC18, 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
    /**
     * 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.
     */
    /* Write setup */
    thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_1, length * 0.9, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_1, length * 0.9, DeviceHandlerIF::GET_READ);
    /* Write setup */
    thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_1, length * 0.901, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::GET_READ);
    /* Write setup */
    thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_1, length * 0.902, DeviceHandlerIF::GET_READ);

    /* Write setup */
    thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_2, length * 0.903, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_2, length * 0.903, DeviceHandlerIF::GET_READ);
    /* Write setup */
    thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_2, length * 0.904, SusHandler::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_2, length * 0.904, DeviceHandlerIF::GET_READ);
    /* Write setup */
    thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_2, length * 0.905, SusHandler::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_2, length * 0.905, DeviceHandlerIF::GET_READ);

    /* Write setup */
    thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_3, length * 0.8, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_3, length * 0.8, DeviceHandlerIF::GET_READ);
    /* Write setup */
    thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_3, length * 0.91, SusHandler::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_3, length * 0.91, DeviceHandlerIF::GET_READ);
    /* Write setup */
    thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_3, length * 0.93, SusHandler::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_3, length * 0.93, DeviceHandlerIF::GET_READ);

    /* Write setup */
    thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_4, length * 0.909, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_4, length * 0.909, DeviceHandlerIF::GET_READ);
    /* Write setup */
    thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_4, length * 0.91, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_4, length * 0.91, DeviceHandlerIF::GET_READ);
    /* Write setup */
    thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_4, length * 0.911, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_4, length * 0.911, DeviceHandlerIF::GET_READ);

    /* Write setup */
    thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_5, length * 0.912, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_5, length * 0.912, DeviceHandlerIF::GET_READ);
    /* Write setup */
    thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_5, length * 0.913, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_5, length * 0.913, DeviceHandlerIF::GET_READ);
    /* Write setup */
    thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_5, length * 0.914, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_5, length * 0.914, DeviceHandlerIF::GET_READ);

    /* Write setup */
    thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_6, length * 0.915, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_6, length * 0.915, DeviceHandlerIF::GET_READ);
    /* Start ADC conversions */
    thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_6, length * 0.916, DeviceHandlerIF::GET_READ);
    /* Read ADC conversions from inernal FIFO */
    thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_6, length * 0.917, DeviceHandlerIF::GET_READ);

    /* Write setup */
    thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_7, length * 0.918, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_7, length * 0.918, DeviceHandlerIF::GET_READ);
    /* Start ADC conversions */
    thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_7, length * 0.919, DeviceHandlerIF::GET_READ);
    /* Read ADC conversions from inernal FIFO */
    thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_7, length * 0.92, DeviceHandlerIF::GET_READ);

    /* Write setup */
    thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_8, length * 0.921, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_8, length * 0.921, DeviceHandlerIF::GET_READ);
    /* Start ADC conversions */
    thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_8, length * 0.922, DeviceHandlerIF::GET_READ);
    /* Read ADC conversions from inernal FIFO */
    thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_8, length * 0.923, DeviceHandlerIF::GET_READ);

    /* Write setup */
    thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_9, length * 0.924, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_9, length * 0.924, DeviceHandlerIF::GET_READ);
    /* Start ADC conversions */
    thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_9, length * 0.925, DeviceHandlerIF::GET_READ);
    /* Read ADC conversions */
    thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_9, length * 0.926, DeviceHandlerIF::GET_READ);

    /* Write setup */
    thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_10, length * 0.927, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_10, length * 0.927, DeviceHandlerIF::GET_READ);
    /* Start ADC conversions */
    thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_10, length * 0.928, DeviceHandlerIF::GET_READ);
    /* Read ADC conversions */
    thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_10, length * 0.929, DeviceHandlerIF::GET_READ);

    /* Write setup */
    thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_11, length * 0.93, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_11, length * 0.93, DeviceHandlerIF::GET_READ);
    /* Start ADC conversions */
    thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_11, length * 0.931, DeviceHandlerIF::GET_READ);
    /* Read ADC conversions */
    thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_11, length * 0.932, DeviceHandlerIF::GET_READ);

    /* Write setup */
    thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_12, length * 0.933, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::GET_READ);
    /* Start ADC conversions */
    thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ);
    /* Read ADC conversions */
    thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::GET_READ);

    /* Write setup */
    thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_13, length * 0.936, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_13, length * 0.936, DeviceHandlerIF::GET_READ);
    /* Start ADC conversions */
    thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_13, length * 0.937, DeviceHandlerIF::GET_READ);
    /* Read ADC conversions */
    thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_13, length * 0.938, DeviceHandlerIF::GET_READ);
#endif

#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 * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RW1, length * 0.6, 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 * 0.6, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RW2, length * 0.7, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RW2, length * 0.85, 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 * 0.6, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RW3, length * 0.7, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RW3, length * 0.85, 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 * 0.6, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::RW4, length * 0.7, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::RW4, length * 0.85, DeviceHandlerIF::GET_READ);
#endif

#if OBSW_ADD_ACS_BOARD == 1
    bool enableAside = true;
    bool enableBside = false;
    if(enableAside) {
        // A side
        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0,
                DeviceHandlerIF::PERFORM_OPERATION);
        thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.2,
                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 * 0.75,
                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 * 0.3,
//                DeviceHandlerIF::SEND_WRITE);
//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.6,
//                DeviceHandlerIF::GET_WRITE);
//        thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.75,
//                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 * 0.35,
                DeviceHandlerIF::SEND_WRITE);
        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
                DeviceHandlerIF::GET_WRITE);
        thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.75,
                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 * 0.2,
                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 * 0.75,
                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 * 0.3,
//                DeviceHandlerIF::SEND_WRITE);
//        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.6,
//                DeviceHandlerIF::GET_WRITE);
//        thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.75,
//                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 * 0.35,
                DeviceHandlerIF::SEND_WRITE);
        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.6,
                DeviceHandlerIF::GET_WRITE);
        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.75,
                DeviceHandlerIF::SEND_READ);
        thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.85,
                DeviceHandlerIF::GET_READ);
    }
#endif /* OBSW_ADD_ACS_BOARD == 1 */

    ReturnValue_t seqCheck = thisSequence->checkSequence();
    if (seqCheck != HasReturnvaluesIF::RETURN_OK) {
        if(seqCheck == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
            sif::warning << "SPI PST is empty.." << std::endl;
        }
        else {
            sif::error << "SPI PST initialization failed" << std::endl;
        }

        return seqCheck;
    }
    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
    // Length of a communication cycle
    uint32_t length = thisSequence->getPeriodMs();
    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);
    if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "I2C PST initialization failed" << std::endl;
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    return HasReturnvaluesIF::RETURN_OK;
}

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

    thisSequence->addSlot(objects::PLOC_UPDATER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::PLOC_MEMORY_DUMPER, length * 0,
            DeviceHandlerIF::PERFORM_OPERATION);
#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_ACS_BOARD == 1

#if OBSW_ADD_GPS_0 == 1
    uartPstEmpty = false;
    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
            DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
            DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
            DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
            DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8,
            DeviceHandlerIF::GET_READ);
#endif /* OBSW_ADD_GPS_0 == 1 */

#if OBSW_ADD_GPS_1 == 1
    uartPstEmpty = false;
    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
            DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
            DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
            DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
            DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.8,
            DeviceHandlerIF::GET_READ);
#endif /* OBSW_ADD_GPS_1 == 1 */

#endif /* OBSW_ADD_ACS_BOARD == 1 */

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

    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();

    // 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;
    }
    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;
}

#if BOARD_TE0720 == 1
ReturnValue_t pst::pollingSequenceTE0720(FixedTimeslotTaskIF *thisSequence) {
    uint32_t length = thisSequence->getPeriodMs();

#if TEST_PLOC_MPSOC_HANDLER == 1
    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

#if OBSW_TEST_RADIATION_SENSOR_HANDLER == 1
    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_TEST_SUS_HANDLER == 1
    /* Write setup */
    thisSequence->addSlot(objects::SUS_1, length * 0.901, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_1, length * 0.902, SusHandler::FIRST_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0.903, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0.904, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_1, length * 0.905, DeviceHandlerIF::GET_READ);

    /* Start conversion*/
    thisSequence->addSlot(objects::SUS_1, length * 0.906, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_1, length * 0.907, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0.908, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0.909, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_1, length * 0.91, DeviceHandlerIF::GET_READ);

    /* Read conversions */
    thisSequence->addSlot(objects::SUS_1, length * 0.911, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_1, length * 0.912, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0.913, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0.914, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_1, length * 0.915, DeviceHandlerIF::GET_READ);
#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 * 0.7, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::PLOC_SUPERVISOR_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
#endif

    thisSequence->addSlot(objects::PLOC_UPDATER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::PLOC_MEMORY_DUMPER, length * 0,
            DeviceHandlerIF::PERFORM_OPERATION);

    if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "Initialization of TE0720 PST failed" << std::endl;
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    return HasReturnvaluesIF::RETURN_OK;
}
#endif /* BOARD_TE0720 == 1 */