#include "PDU2Handler.h"

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

#include "OBSWConfig.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::assignChannelHookFunction(GOMSPACE::ChannelSwitchHook hook, void *args) {
  this->channelSwitchHook = hook;
  this->hookArgs = args;
}

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

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

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

  localDataPoolMap.emplace(pool::PDU2_OUT_EN_Q7S, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::PDU2_OUT_EN_PAYLOAD_PCDU_CH1, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::PDU2_OUT_EN_RW, new PoolEntry<uint8_t>({0}));
#ifdef TE0720_1CFA
  localDataPoolMap.emplace(pool::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>({1}));
#else
  localDataPoolMap.emplace(pool::PDU2_OUT_EN_TCS_BOARD_HEATER_IN, new PoolEntry<uint8_t>({0}));
#endif
  localDataPoolMap.emplace(pool::PDU2_OUT_EN_SUS_REDUNDANT, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::PDU2_OUT_EN_DEPLOYMENT_MECHANISM, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::PDU2_OUT_EN_PAYLOAD_PCDU_CH6, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::PDU2_OUT_EN_ACS_BOARD_SIDE_B, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::PDU2_OUT_EN_PAYLOAD_CAMERA, new PoolEntry<uint8_t>({0}));

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

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

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

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

  localDataPoolMap.emplace(pool::PDU2_WDT_CNT_GND, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::PDU2_WDT_CNT_I2C, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::PDU2_WDT_CNT_CAN, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::PDU2_WDT_CNT_CSP1, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::PDU2_WDT_CNT_CSP2, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::PDU2_WDT_GND_LEFT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::PDU2_WDT_I2C_LEFT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::PDU2_WDT_CAN_LEFT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(pool::PDU2_WDT_CSP_LEFT1, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(pool::PDU2_WDT_CSP_LEFT2, new PoolEntry<uint8_t>({0}));
#if OBSW_ENABLE_PERIODIC_HK == 1
  poolManager.subscribeForPeriodicPacket(pdu2HkTableDataset.getSid(), false, 0.4, true);
#endif
  return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t PDU2Handler::printStatus(DeviceCommandId_t cmd) {
  ReturnValue_t result = RETURN_OK;
  switch (cmd) {
    case (GOMSPACE::PRINT_SWITCH_V_I): {
      PoolReadGuard pg(&pdu2HkTableDataset);
      result = pg.getReadResult();
      if (result != HasReturnvaluesIF::RETURN_OK) {
        break;
      }
      printHkTableSwitchVI();
      break;
    }
    case (GOMSPACE::PRINT_LATCHUPS): {
      PoolReadGuard pg(&pdu2HkTableDataset);
      result = pg.getReadResult();
      if (result != HasReturnvaluesIF::RETURN_OK) {
        break;
      }
      printHkTableLatchups();
      break;
    }
    default: {
      return HasReturnvaluesIF::RETURN_FAILED;
    }
  }
  if (result != HasReturnvaluesIF::RETURN_OK) {
    sif::warning << "Reading PDU1 HK table failed!" << std::endl;
  }
  return result;
}

void PDU2Handler::printHkTableSwitchVI() {
  sif::info << "PDU2 Info:" << std::endl;
  sif::info << "Boot Cause: " << pdu2HkTableDataset.bootcause << " | Boot Count: " << std::setw(4)
            << std::right << pdu2HkTableDataset.bootcount << std::endl;
  sif::info << "Reset Cause: " << pdu2HkTableDataset.resetcause
            << " | Battery Mode: " << static_cast<int>(pdu2HkTableDataset.battMode.value)
            << std::endl;
  sif::info << "SwitchState, Currents [mA], Voltages [mV]: " << std::endl;
  sif::info << std::setw(30) << std::left << "Q7S" << std::dec << "| "
            << unsigned(pdu2HkTableDataset.outEnabledQ7S.value) << ", " << std::setw(4)
            << std::right << pdu2HkTableDataset.currentOutQ7S.value << ", " << std::setw(4)
            << pdu2HkTableDataset.voltageOutQ7S.value << std::endl;
  sif::info << std::setw(30) << std::left << "Payload PCDU Channel 1" << std::dec << "| "
            << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh1.value) << ", " << std::setw(4)
            << std::right << pdu2HkTableDataset.currentOutPayloadPCDUCh1.value << ", "
            << std::setw(4) << pdu2HkTableDataset.voltageOutPayloadPCDUCh1.value << std::endl;
  sif::info << std::setw(30) << std::left << "Reaction Wheels" << std::dec << "| "
            << unsigned(pdu2HkTableDataset.outEnabledReactionWheels.value) << ", " << std::setw(4)
            << std::right << pdu2HkTableDataset.currentOutReactionWheels.value << ", "
            << std::setw(4) << pdu2HkTableDataset.voltageOutReactionWheels.value << std::endl;
  sif::info << std::setw(30) << std::left << "TCS Board Heater Input" << std::dec << "| "
            << unsigned(pdu2HkTableDataset.outEnabledTCSBoardHeaterIn.value) << ", " << std::setw(4)
            << std::right << pdu2HkTableDataset.currentOutTCSBoardHeaterIn.value << ", "
            << std::setw(4) << pdu2HkTableDataset.voltageOutTCSBoardHeaterIn.value << std::endl;
  sif::info << std::setw(30) << std::left << "SuS Redundant" << std::dec << "| "
            << unsigned(pdu2HkTableDataset.outEnabledSUSRedundant.value) << ", " << std::setw(4)
            << std::right << pdu2HkTableDataset.currentOutSUSRedundant.value << ", " << std::setw(4)
            << pdu2HkTableDataset.voltageOutSUSRedundant.value << std::endl;
  sif::info << std::setw(30) << std::left << "Deployment mechanism" << std::dec << "| "
            << unsigned(pdu2HkTableDataset.outEnabledDeplMechanism.value) << ", " << std::setw(4)
            << std::right << pdu2HkTableDataset.currentOutDeplMechanism.value << ", "
            << std::setw(4) << pdu2HkTableDataset.voltageOutDeplMechanism.value << std::endl;
  sif::info << std::setw(30) << std::left << "Payload PCDU Channel 6" << std::dec << "| "
            << unsigned(pdu2HkTableDataset.outEnabledPlPCDUCh6.value) << ", " << std::setw(4)
            << std::right << pdu2HkTableDataset.currentOutPayloadPCDUCh6.value << ", "
            << std::setw(4) << pdu2HkTableDataset.voltageOutPayloadPCDUCh6.value << std::endl;
  sif::info << std::setw(30) << std::left << "ACS Board Side B" << std::dec << "| "
            << unsigned(pdu2HkTableDataset.outEnabledAcsBoardSideB.value) << ", " << std::setw(4)
            << std::right << pdu2HkTableDataset.currentOutACSBoardSideB.value << ", "
            << std::setw(4) << pdu2HkTableDataset.voltageOutACSBoardSideB.value << std::endl;
  sif::info << std::setw(30) << std::left << "Payload Camera" << std::dec << "| "
            << unsigned(pdu2HkTableDataset.outEnabledPayloadCamera.value) << ", " << std::setw(4)
            << std::right << pdu2HkTableDataset.currentOutPayloadCamera.value << ", "
            << std::setw(4) << pdu2HkTableDataset.voltageOutPayloadCamera.value << std::right
            << std::endl;
}

void PDU2Handler::printHkTableLatchups() {
  sif::info << "PDU2 Latchup Information" << std::endl;
  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Q7S" << std::dec << "| "
            << std::setw(4) << std::right << pdu2HkTableDataset.latchupsQ7S << std::endl;
  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Payload PCDU Channel 1" << std::dec
            << "| " << std::setw(4) << std::right << pdu2HkTableDataset.latchupsPayloadPcduCh1
            << std::endl;
  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Reaction Wheels" << std::dec
            << "| " << std::setw(4) << std::right << pdu2HkTableDataset.latchupsRw << std::endl;
  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "TCS Board Heater Input" << std::dec
            << "| " << std::setw(4) << std::right << pdu2HkTableDataset.latchupsTcsBoardHeaterIn
            << std::endl;
  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "SuS Nominal" << std::dec << "| "
            << std::setw(4) << std::right << pdu2HkTableDataset.latchupsSusRedundant << std::endl;
  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Deployment mechanism" << std::dec
            << "| " << std::setw(4) << std::right << pdu2HkTableDataset.latchupsDeplMenchanism
            << std::endl;
  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Payload PCDU Channel 6" << std::dec
            << "| " << std::setw(4) << std::right << pdu2HkTableDataset.latchupsPayloadPcduCh6
            << std::endl;
  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "ACS Board Side B" << std::dec
            << "| " << std::setw(4) << std::right << pdu2HkTableDataset.latchupsAcsBoardSideB
            << std::endl;
  sif::info << std::setw(MAX_CHANNEL_STR_WIDTH) << std::left << "Payload Camera" << std::dec << "| "
            << std::setw(4) << std::right << pdu2HkTableDataset.latchupsPayloadCamera << std::endl;
}

ReturnValue_t PDU2Handler::setParamCallback(SetParamMessageUnpacker &unpacker,
                                            bool afterExecution) {
  using namespace PDU2;
  GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;
  if (not afterExecution) {
    return HasReturnvaluesIF::RETURN_OK;
  }
  if (channelSwitchHook != nullptr and unpacker.getParameterSize() == 1) {
    switch (unpacker.getAddress()) {
      case (CONFIG_ADDRESS_OUT_EN_Q7S): {
        channelSwitchHook(pdu, 0, unpacker.getParameter()[0], hookArgs);
        break;
      }
      case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH1): {
        channelSwitchHook(pdu, 1, unpacker.getParameter()[0], hookArgs);
        break;
      }
      case (CONFIG_ADDRESS_OUT_EN_RW): {
        channelSwitchHook(pdu, 2, unpacker.getParameter()[0], hookArgs);
        break;
      }
      case (CONFIG_ADDRESS_OUT_EN_TCS_BOARD_HEATER_IN): {
        channelSwitchHook(pdu, 3, unpacker.getParameter()[0], hookArgs);
        break;
      }
      case (CONFIG_ADDRESS_OUT_EN_SUS_REDUNDANT): {
        channelSwitchHook(pdu, 4, unpacker.getParameter()[0], hookArgs);
        break;
      }
      case (CONFIG_ADDRESS_OUT_EN_DEPLOYMENT_MECHANISM): {
        channelSwitchHook(pdu, 5, unpacker.getParameter()[0], hookArgs);
        break;
      }
      case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_PCDU_CH6): {
        channelSwitchHook(pdu, 6, unpacker.getParameter()[0], hookArgs);
        break;
      }
      case (CONFIG_ADDRESS_OUT_EN_ACS_BOARD_SIDE_B): {
        channelSwitchHook(pdu, 7, unpacker.getParameter()[0], hookArgs);
        break;
      }
      case (CONFIG_ADDRESS_OUT_EN_PAYLOAD_CAMERA): {
        channelSwitchHook(pdu, 8, unpacker.getParameter()[0], hookArgs);
        break;
      }
    }
  }
  return HasReturnvaluesIF::RETURN_OK;
}