#include "scheduling.h"

#include <fsfw/devicehandlers/DeviceCommunicationIF.h>
#include <fsfw/subsystem/Subsystem.h>
#include <linux/scheduling.h>

#include <iostream>
#include <vector>

#include "OBSWConfig.h"
#include "bsp_q7s/core/ObjectFactory.h"
#include "fsfw/objectmanager/ObjectManager.h"
#include "fsfw/objectmanager/ObjectManagerIF.h"
#include "fsfw/platform.h"
#include "fsfw/returnvalues/returnvalue.h"
#include "fsfw/serviceinterface/ServiceInterfaceStream.h"
#include "fsfw/tasks/FixedTimeslotTaskIF.h"
#include "fsfw/tasks/PeriodicTaskIF.h"
#include "fsfw/tasks/TaskFactory.h"
#include "mission/devices/devicedefinitions/Max31865Definitions.h"
#include "mission/utility/InitMission.h"
#include "pollingsequence/pollingSequenceFactory.h"

/* This is configured for linux without CR */
#ifdef PLATFORM_UNIX
ServiceInterfaceStream sif::debug("DEBUG");
ServiceInterfaceStream sif::info("INFO");
ServiceInterfaceStream sif::warning("WARNING");
ServiceInterfaceStream sif::error("ERROR");
#else
ServiceInterfaceStream sif::debug("DEBUG", true);
ServiceInterfaceStream sif::info("INFO", true);
ServiceInterfaceStream sif::warning("WARNING", true);
ServiceInterfaceStream sif::error("ERROR", true, false, true);
#endif

ObjectManagerIF* objectManager = nullptr;

void scheduling::initMission() {
  sif::info << "Building global objects.." << std::endl;
  try {
    /* Instantiate global object manager and also create all objects */
    ObjectManager::instance()->setObjectFactoryFunction(ObjectFactory::produce, nullptr);
  } catch (const std::invalid_argument& e) {
    sif::error << "scheduling::initMission: Object Construction failed with an "
                  "invalid argument: "
               << e.what();
    std::exit(1);
  }

  sif::info << "Initializing all objects.." << std::endl;
  ObjectManager::instance()->initialize();

  /* This function creates and starts all tasks */
  initTasks();
}

void scheduling::initTasks() {
  TaskFactory* factory = TaskFactory::instance();
  ReturnValue_t result = returnvalue::OK;
  if (factory == nullptr) {
    /* Should never happen ! */
    return;
  }
#if OBSW_PRINT_MISSED_DEADLINES == 1
  void (*missedDeadlineFunc)(void) = TaskFactory::printMissedDeadline;
#else
  void (*missedDeadlineFunc)(void) = nullptr;
#endif

#if OBSW_ADD_SA_DEPL == 1
  // Could add this to the core controller but the core controller does so many thing that I would
  // prefer to have the solar array deployment in a seprate task.
  PeriodicTaskIF* solarArrayDeplTask = factory->createPeriodicTask(
      "SOLAR_ARRAY_DEPL", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
  result = solarArrayDeplTask->addComponent(objects::SOLAR_ARRAY_DEPL_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("SOLAR_ARRAY_DEPL", objects::SOLAR_ARRAY_DEPL_HANDLER);
  }
#endif

  PeriodicTaskIF* sysTask = factory->createPeriodicTask(
      "CORE_CTRL", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
  result = sysTask->addComponent(objects::CORE_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CORE_CTRL", objects::CORE_CONTROLLER);
  }
  result = sysTask->addComponent(objects::PL_SUBSYSTEM);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PL_SUBSYSTEM", objects::PL_SUBSYSTEM);
  }

  /* TMTC Distribution */
  PeriodicTaskIF* tmTcDistributor = factory->createPeriodicTask(
      "DIST", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
  result = tmTcDistributor->addComponent(objects::UDP_TMTC_SERVER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("UDP_TMTC_SERVER", objects::UDP_TMTC_SERVER);
  }
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
  result = tmTcDistributor->addComponent(objects::TCP_TMTC_SERVER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("TCP_TMTC_SERVER", objects::TCP_TMTC_SERVER);
  }
#endif
#endif
  result = tmTcDistributor->addComponent(objects::CCSDS_PACKET_DISTRIBUTOR);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CCSDS_DISTRIB", objects::CCSDS_PACKET_DISTRIBUTOR);
  }
  result = tmTcDistributor->addComponent(objects::PUS_PACKET_DISTRIBUTOR);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_PACKET_DISTRIB", objects::PUS_PACKET_DISTRIBUTOR);
  }
  result = tmTcDistributor->addComponent(objects::CFDP_DISTRIBUTOR);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CFDP_DISTRIBUTOR", objects::CFDP_DISTRIBUTOR);
  }
  result = tmTcDistributor->addComponent(objects::TM_FUNNEL);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("TM_FUNNEL", objects::TM_FUNNEL);
  }

#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
  PeriodicTaskIF* udpPollingTask = factory->createPeriodicTask(
      "UDP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = udpPollingTask->addComponent(objects::UDP_TMTC_POLLING_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("UDP_POLLING", objects::UDP_TMTC_POLLING_TASK);
  }
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
  PeriodicTaskIF* tcpPollingTask = factory->createPeriodicTask(
      "TCP_TMTC_POLLING", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = tcpPollingTask->addComponent(objects::TCP_TMTC_POLLING_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("UDP_POLLING", objects::TCP_TMTC_POLLING_TASK);
  }
#endif
#endif

  PeriodicTaskIF* comTask = factory->createPeriodicTask(
      "CCSDS_HANDLER", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = comTask->addComponent(objects::COM_SUBSYSTEM);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("COM subsystem", objects::COM_SUBSYSTEM);
  }
#if OBSW_ADD_CCSDS_IP_CORES == 1
  result = comTask->addComponent(objects::CCSDS_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CCSDS Handler", objects::CCSDS_HANDLER);
  }

  // Runs in IRQ mode, frequency does not really matter
  PeriodicTaskIF* pdecHandlerTask = factory->createPeriodicTask(
      "PDEC_HANDLER", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = pdecHandlerTask->addComponent(objects::PDEC_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PDEC Handler", objects::PDEC_HANDLER);
  }
#endif /* OBSW_ADD_CCSDS_IP_CORE == 1 */

#if OBSW_ADD_CFDP_COMPONENTS == 1
  PeriodicTaskIF* cfdpTask = factory->createPeriodicTask(
      "CFDP Handler", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.4, missedDeadlineFunc);
  result = cfdpTask->addComponent(objects::CFDP_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("CFDP Handler", objects::CFDP_HANDLER);
  }
#endif

  PeriodicTaskIF* acsCtrlTask = factory->createPeriodicTask(
      "ACS_TASK", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
#if OBSW_ADD_GPS_CTRL == 1
  result = acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("GPS_CTRL", objects::GPS_CONTROLLER);
  }
#endif /* OBSW_ADD_GPS_CTRL */

#if OBSW_ADD_ACS_CTRL == 1
  acsCtrlTask->addComponent(objects::ACS_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("ACS_CTRL", objects::ACS_CONTROLLER);
  }
#endif
#if OBSW_Q7S_EM == 1
  acsCtrlTask->addComponent(objects::MGM_0_LIS3_HANDLER);
  acsCtrlTask->addComponent(objects::MGM_1_RM3100_HANDLER);
  acsCtrlTask->addComponent(objects::MGM_2_LIS3_HANDLER);
  acsCtrlTask->addComponent(objects::MGM_3_RM3100_HANDLER);
  acsCtrlTask->addComponent(objects::IMTQ_HANDLER);
  acsCtrlTask->addComponent(objects::SUS_0_N_LOC_XFYFZM_PT_XF);
  acsCtrlTask->addComponent(objects::SUS_6_R_LOC_XFYBZM_PT_XF);
  acsCtrlTask->addComponent(objects::SUS_1_N_LOC_XBYFZM_PT_XB);
  acsCtrlTask->addComponent(objects::SUS_7_R_LOC_XBYBZM_PT_XB);
  acsCtrlTask->addComponent(objects::SUS_2_N_LOC_XFYBZB_PT_YB);
  acsCtrlTask->addComponent(objects::SUS_8_R_LOC_XBYBZB_PT_YB);
  acsCtrlTask->addComponent(objects::SUS_3_N_LOC_XFYBZF_PT_YF);
  acsCtrlTask->addComponent(objects::SUS_9_R_LOC_XBYBZB_PT_YF);
  acsCtrlTask->addComponent(objects::SUS_4_N_LOC_XMYFZF_PT_ZF);
  acsCtrlTask->addComponent(objects::SUS_10_N_LOC_XMYBZF_PT_ZF);
  acsCtrlTask->addComponent(objects::SUS_5_N_LOC_XFYMZB_PT_ZB);
  acsCtrlTask->addComponent(objects::SUS_11_R_LOC_XBYMZB_PT_ZB);
  acsCtrlTask->addComponent(objects::GYRO_0_ADIS_HANDLER);
  acsCtrlTask->addComponent(objects::GYRO_1_L3G_HANDLER);
  acsCtrlTask->addComponent(objects::GYRO_2_ADIS_HANDLER);
  acsCtrlTask->addComponent(objects::GYRO_3_L3G_HANDLER);
  acsCtrlTask->addComponent(objects::GPS_CONTROLLER);
  acsCtrlTask->addComponent(objects::STAR_TRACKER);
  acsCtrlTask->addComponent(objects::RW1);
  acsCtrlTask->addComponent(objects::RW2);
  acsCtrlTask->addComponent(objects::RW3);
  acsCtrlTask->addComponent(objects::RW4);
#endif

  PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
      "SYS_TASK", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
  static_cast<void>(acsSysTask);
#if OBSW_ADD_ACS_BOARD == 1
  result = acsSysTask->addComponent(objects::ACS_BOARD_ASS);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("ACS_BOARD_ASS", objects::ACS_BOARD_ASS);
  }
#endif /* OBSW_ADD_ACS_HANDLERS */
#if OBSW_ADD_RW == 1
  result = acsSysTask->addComponent(objects::RW_ASS);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("RW_ASS", objects::RW_ASS);
  }
#endif
#if OBSW_ADD_SUS_BOARD_ASS == 1
  result = acsSysTask->addComponent(objects::SUS_BOARD_ASS);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("SUS_BOARD_ASS", objects::SUS_BOARD_ASS);
  }
#endif
  result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
  }

#if OBSW_ADD_RTD_DEVICES == 1
  PeriodicTaskIF* tcsPollingTask = factory->createPeriodicTask(
      "TCS_POLLING_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.5, missedDeadlineFunc);
  result = tcsPollingTask->addComponent(objects::SPI_RTD_COM_IF);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("SPI_RTD_POLLING", objects::SPI_RTD_COM_IF);
  }

  PeriodicTaskIF* tcsTask = factory->createPeriodicTask(
      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);
  std::array<object_id_t, EiveMax31855::NUM_RTDS> rtdIds = {
      objects::RTD_0_IC3_PLOC_HEATSPREADER,
      objects::RTD_1_IC4_PLOC_MISSIONBOARD,
      objects::RTD_2_IC5_4K_CAMERA,
      objects::RTD_3_IC6_DAC_HEATSPREADER,
      objects::RTD_4_IC7_STARTRACKER,
      objects::RTD_5_IC8_RW1_MX_MY,
      objects::RTD_6_IC9_DRO,
      objects::RTD_7_IC10_SCEX,
      objects::RTD_8_IC11_X8,
      objects::RTD_9_IC12_HPA,
      objects::RTD_10_IC13_PL_TX,
      objects::RTD_11_IC14_MPA,
      objects::RTD_12_IC15_ACU,
      objects::RTD_13_IC16_PLPCDU_HEATSPREADER,
      objects::RTD_14_IC17_TCS_BOARD,
      objects::RTD_15_IC18_IMTQ,
  };

  for (const auto& rtd : rtdIds) {
    tcsTask->addComponent(rtd, DeviceHandlerIF::PERFORM_OPERATION);
    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_WRITE);
    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_WRITE);
    tcsTask->addComponent(rtd, DeviceHandlerIF::SEND_READ);
    tcsTask->addComponent(rtd, DeviceHandlerIF::GET_READ);
  }
#endif

  PeriodicTaskIF* tcsSystemTask = factory->createPeriodicTask(
      "TCS_TASK", 45, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.5, missedDeadlineFunc);
  result = tcsSystemTask->addComponent(objects::TCS_SUBSYSTEM);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("TCS_SUBSYSTEM", objects::TCS_SUBSYSTEM);
  }
#if OBSW_ADD_RTD_DEVICES == 1
  result = tcsSystemTask->addComponent(objects::TCS_BOARD_ASS);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("TCS_BOARD_ASS", objects::TCS_BOARD_ASS);
  }
#endif /* OBSW_ADD_RTD_DEVICES */
#if OBSW_ADD_TCS_CTRL == 1
  result = tcsSystemTask->addComponent(objects::THERMAL_CONTROLLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("THERMAL_CONTROLLER", objects::THERMAL_CONTROLLER);
  }
#endif
#if OBSW_ADD_HEATERS == 1
  result = tcsSystemTask->addComponent(objects::HEATER_HANDLER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("HEATER_HANDLER", objects::HEATER_HANDLER);
  }
#endif

#if OBSW_ADD_STAR_TRACKER == 1
  PeriodicTaskIF* strHelperTask = factory->createPeriodicTask(
      "STR_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = strHelperTask->addComponent(objects::STR_HELPER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("STR_HELPER", objects::STR_HELPER);
  }
#endif /* OBSW_ADD_STAR_TRACKER == 1 */

#if OBSW_ADD_PLOC_MPSOC == 1
  PeriodicTaskIF* mpsocHelperTask = factory->createPeriodicTask(
      "PLOC_MPSOC_HELPER", 20, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = mpsocHelperTask->addComponent(objects::PLOC_MPSOC_HELPER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PLOC_MPSOC_HELPER", objects::PLOC_MPSOC_HELPER);
  }
#endif /* OBSW_ADD_PLOC_MPSOC */

#if OBSW_ADD_PLOC_SUPERVISOR == 1
  PeriodicTaskIF* supvHelperTask = factory->createPeriodicTask(
      "PLOC_SUPV_HELPER", 10, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  result = supvHelperTask->addComponent(objects::PLOC_SUPERVISOR_HELPER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PLOC_SUPV_HELPER", objects::PLOC_SUPERVISOR_HELPER);
  }
#endif /* OBSW_ADD_PLOC_SUPERVISOR */

  PeriodicTaskIF* plTask = factory->createPeriodicTask(
      "PL_TASK", 25, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.0, missedDeadlineFunc);
  scheduling::addMpsocSupvHandlers(plTask);
  plTask->addComponent(objects::CAM_SWITCHER);

#if OBSW_ADD_SCEX_DEVICE == 1
  PeriodicTaskIF* scexDevHandler;
  PeriodicTaskIF* scexReaderTask;
  scheduling::schedulingScex(*factory, scexDevHandler, scexReaderTask);
#endif

  std::vector<PeriodicTaskIF*> pusTasks;
  createPusTasks(*factory, missedDeadlineFunc, pusTasks);
  std::vector<PeriodicTaskIF*> pstTasks;
  createPstTasks(*factory, missedDeadlineFunc, pstTasks);

#if OBSW_ADD_TEST_CODE == 1
#if OBSW_TEST_CCSDS_BRIDGE == 1
  PeriodicTaskIF* ptmeTestTask = factory->createPeriodicTask(
      "PTME_TEST", 80, PeriodicTaskIF::MINIMUM_STACK_SIZE, 2.0, missedDeadlineFunc);
  result = ptmeTestTask->addComponent(objects::CCSDS_IP_CORE_BRIDGE);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PTME_TEST", objects::CCSDS_IP_CORE_BRIDGE);
  }
#endif
  std::vector<PeriodicTaskIF*> testTasks;
  createTestTasks(*factory, missedDeadlineFunc, testTasks);
#endif

  auto taskStarter = [](std::vector<PeriodicTaskIF*>& taskVector, std::string name) {
    for (const auto& task : taskVector) {
      if (task != nullptr) {
        task->startTask();
      } else {
        sif::error << "Task in vector " << name << " is invalid!" << std::endl;
      }
    }
  };

  sif::info << "Starting tasks.." << std::endl;
  tmTcDistributor->startTask();

#if OBSW_ADD_TCPIP_SERVERS == 1
#if OBSW_ADD_TMTC_UDP_SERVER == 1
  udpPollingTask->startTask();
#endif
#if OBSW_ADD_TMTC_TCP_SERVER == 1
  tcpPollingTask->startTask();
#endif
#endif

  comTask->startTask();
#if OBSW_ADD_CCSDS_IP_CORES == 1
  pdecHandlerTask->startTask();
#endif /* OBSW_ADD_CCSDS_IP_CORES == 1 */

  sysTask->startTask();
#if OBSW_ADD_SA_DEPL == 1
  solarArrayDeplTask->startTask();
#endif

  taskStarter(pstTasks, "PST task vector");
  taskStarter(pusTasks, "PUS task vector");
#if OBSW_ADD_SCEX_DEVICE == 1
  scexDevHandler->startTask();
  scexReaderTask->startTask();
#endif

#if OBSW_TEST_CCSDS_BRIDGE == 1
  ptmeTestTask->startTask();
#endif

#if OBSW_ADD_CFDP_COMPONENTS == 1
  cfdpTask->startTask();
#endif

#if OBSW_ADD_STAR_TRACKER == 1
  strHelperTask->startTask();
#endif /* OBSW_ADD_STAR_TRACKER == 1 */

  acsCtrlTask->startTask();
  acsSysTask->startTask();
#if OBSW_ADD_RTD_DEVICES == 1
  tcsPollingTask->startTask();
  tcsTask->startTask();
#endif /* OBSW_ADD_RTD_DEVICES == 1 */
  if (not tcsSystemTask->isEmpty()) {
    tcsSystemTask->startTask();
  }
#if OBSW_ADD_PLOC_SUPERVISOR == 1
  supvHelperTask->startTask();
#endif /* OBSW_ADD_PLOC_SUPERVISOR == 1 */
  plTask->startTask();

#if OBSW_ADD_TEST_CODE == 1
  taskStarter(testTasks, "Test task vector");
#endif

  sif::info << "Tasks started.." << std::endl;
}

void scheduling::createPstTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                                std::vector<PeriodicTaskIF*>& taskVec) {
  ReturnValue_t result = returnvalue::OK;
  /* Polling Sequence Table Default */
#if OBSW_ADD_SPI_TEST_CODE == 0
  FixedTimeslotTaskIF* spiPst = factory.createFixedTimeslotTask(
      "MAIN_SPI", 75, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.5, missedDeadlineFunc);
  result = pst::pstSpi(spiPst);
  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
    } else {
      sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
    }
  } else {
    taskVec.push_back(spiPst);
  }
#endif

#if OBSW_ADD_RW == 1
  FixedTimeslotTaskIF* rwPstTask = factory.createFixedTimeslotTask(
      "RW_SPI", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 1.0, missedDeadlineFunc);
  result = pst::pstSpiRw(rwPstTask);
  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "scheduling::initTasks: SPI PST is empty" << std::endl;
    } else {
      sif::error << "scheduling::initTasks: Creating SPI PST failed!" << std::endl;
    }
  } else {
    taskVec.push_back(rwPstTask);
  }
#endif

  FixedTimeslotTaskIF* uartPst = factory.createFixedTimeslotTask(
      "UART_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
  result = pst::pstUart(uartPst);
  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "scheduling::initTasks: UART PST is empty" << std::endl;
    } else {
      sif::error << "scheduling::initTasks: Creating UART PST failed!" << std::endl;
    }
  } else {
    taskVec.push_back(uartPst);
  }

#if OBSW_ADD_I2C_TEST_CODE == 0
  FixedTimeslotTaskIF* i2cPst = factory.createFixedTimeslotTask(
      "I2C_PST", 65, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 0.2, missedDeadlineFunc);
  result = pst::pstI2c(i2cPst);
  if (result != returnvalue::OK) {
    if (result == FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::warning << "scheduling::initTasks: I2C PST is empty" << std::endl;
    } else {
      sif::error << "scheduling::initTasks: Creating I2C PST failed!" << std::endl;
    }
  } else {
    taskVec.push_back(i2cPst);
  }
#endif

#if OBSW_ADD_GOMSPACE_PCDU == 1
  FixedTimeslotTaskIF* gomSpacePstTask = factory.createFixedTimeslotTask(
      "GS_PST_TASK", 70, PeriodicTaskIF::MINIMUM_STACK_SIZE * 4, 1.0, missedDeadlineFunc);
  result = pst::pstGompaceCan(gomSpacePstTask);
  if (result != returnvalue::OK) {
    if (result != FixedTimeslotTaskIF::SLOT_LIST_EMPTY) {
      sif::error << "scheduling::initTasks: GomSpace PST initialization failed!" << std::endl;
    }
  }
  taskVec.push_back(gomSpacePstTask);
#endif
}

void scheduling::createPusTasks(TaskFactory& factory, TaskDeadlineMissedFunction missedDeadlineFunc,
                                std::vector<PeriodicTaskIF*>& taskVec) {
  ReturnValue_t result = returnvalue::OK;
  /* PUS Services */
  PeriodicTaskIF* pusVerification = factory.createPeriodicTask(
      "PUS_VERIF", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusVerification->addComponent(objects::PUS_SERVICE_1_VERIFICATION);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_VERIF", objects::PUS_SERVICE_1_VERIFICATION);
  }
  taskVec.push_back(pusVerification);

  PeriodicTaskIF* pusEvents = factory.createPeriodicTask(
      "PUS_EVENTS", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.200, missedDeadlineFunc);
  result = pusEvents->addComponent(objects::PUS_SERVICE_5_EVENT_REPORTING);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_EVENTS", objects::PUS_SERVICE_5_EVENT_REPORTING);
  }
  result = pusEvents->addComponent(objects::EVENT_MANAGER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_MGMT", objects::EVENT_MANAGER);
  }
  taskVec.push_back(pusEvents);

  PeriodicTaskIF* pusHighPrio = factory.createPeriodicTask(
      "PUS_HIGH_PRIO", 50, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.2, missedDeadlineFunc);
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_2_DEVICE_ACCESS);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_2", objects::PUS_SERVICE_2_DEVICE_ACCESS);
  }
  result = pusHighPrio->addComponent(objects::PUS_SERVICE_9_TIME_MGMT);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_9", objects::PUS_SERVICE_9_TIME_MGMT);
  }

  taskVec.push_back(pusHighPrio);

  PeriodicTaskIF* pusMedPrio = factory.createPeriodicTask(
      "PUS_MED_PRIO", 40, PeriodicTaskIF::MINIMUM_STACK_SIZE, 0.8, missedDeadlineFunc);

  result = pusMedPrio->addComponent(objects::PUS_SERVICE_3_HOUSEKEEPING);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_3", objects::PUS_SERVICE_3_HOUSEKEEPING);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_8_FUNCTION_MGMT);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_8", objects::PUS_SERVICE_8_FUNCTION_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_11_TC_SCHEDULER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_11", objects::PUS_SERVICE_11_TC_SCHEDULER);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_20_PARAMETERS);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_20", objects::PUS_SERVICE_20_PARAMETERS);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_200_MODE_MGMT);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_200", objects::PUS_SERVICE_200_MODE_MGMT);
  }
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_201_HEALTH);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_201", objects::PUS_SERVICE_201_HEALTH);
  }
  // Used for connection tests, therefore use higher priority
  result = pusMedPrio->addComponent(objects::PUS_SERVICE_17_TEST);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("PUS_17", objects::PUS_SERVICE_17_TEST);
  }
  taskVec.push_back(pusMedPrio);

  PeriodicTaskIF* pusLowPrio = factory.createPeriodicTask(
      "PUS_LOW_PRIO", 30, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1.6, missedDeadlineFunc);
  result = pusLowPrio->addComponent(objects::INTERNAL_ERROR_REPORTER);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("ERROR_REPORTER", objects::INTERNAL_ERROR_REPORTER);
  }
  taskVec.push_back(pusLowPrio);
}

void scheduling::createTestTasks(TaskFactory& factory,
                                 TaskDeadlineMissedFunction missedDeadlineFunc,
                                 std::vector<PeriodicTaskIF*>& taskVec) {
#if OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
  ReturnValue_t result = returnvalue::OK;
  static_cast<void>(result);  // supress warning in case it is not used

  PeriodicTaskIF* testTask = factory.createPeriodicTask(
      "TEST_TASK", 60, PeriodicTaskIF::MINIMUM_STACK_SIZE, 1, missedDeadlineFunc);

  result = testTask->addComponent(objects::TEST_TASK);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("TEST_TASK", objects::TEST_TASK);
  }

#if OBSW_ADD_SPI_TEST_CODE == 1
  result = testTask->addComponent(objects::SPI_TEST);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("SPI_TEST", objects::SPI_TEST);
  }
#endif
#if OBSW_ADD_I2C_TEST_CODE == 1
  result = testTask->addComponent(objects::I2C_TEST);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("I2C_TEST", objects::I2C_TEST);
  }
#endif
#if OBSW_ADD_UART_TEST_CODE == 1
  result = testTask->addComponent(objects::UART_TEST);
  if (result != returnvalue::OK) {
    scheduling::printAddObjectError("UART_TEST", objects::UART_TEST);
  }
#endif

  taskVec.push_back(testTask);

#endif  // OBSW_ADD_TEST_TASK == 1 && OBSW_ADD_TEST_CODE == 1
}

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