#include "pollingSequenceFactory.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 <fsfwconfig/objects/systemObjectList.h>
#include <fsfwconfig/OBSWConfig.h>


ReturnValue_t pst::pollingSequenceInitDefault(FixedTimeslotTaskIF *thisSequence)
{
    /* Length of a communication cycle */
    uint32_t length = thisSequence->getPeriodMs();
    thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0,
            DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0,
            DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::HEATER_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SOLAR_ARRAY_DEPL_HANDLER, length * 0,
            DeviceHandlerIF::PERFORM_OPERATION);

#if Q7S_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 /* Q7S_ADD_RTD_DEVICES */

    thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::PLOC_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);

    thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.2, DeviceHandlerIF::SEND_WRITE);

#if Q7S_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 /* Q7S_ADD_RTD_DEVICES */

    thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);

    thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.4, DeviceHandlerIF::GET_WRITE);

#if Q7S_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 /* Q7S_ADD_RTD_DEVICES */

    thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.4, DeviceHandlerIF::GET_WRITE);

    thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.6, DeviceHandlerIF::SEND_READ);

#if Q7S_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 /* Q7S_ADD_RTD_DEVICES */

    thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.6, DeviceHandlerIF::SEND_READ);

    thisSequence->addSlot(objects::TMP1075_HANDLER_1, length * 0.8, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::TMP1075_HANDLER_2, length * 0.8, DeviceHandlerIF::GET_READ);

#if Q7S_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 /* Q7S_ADD_RTD_DEVICES */

    thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8, DeviceHandlerIF::GET_READ);


    /* 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);

    /* Sun sensor 1 */
//    thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
//    thisSequence->addSlot(objects::SUS_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
//    thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
//    thisSequence->addSlot(objects::SUS_1, length * 0.6, DeviceHandlerIF::SEND_READ);
//    thisSequence->addSlot(objects::SUS_1, length * 0.8, DeviceHandlerIF::GET_READ);

    if (length != 3000) {
        sif::warning << "pollingSequenceInitDefault: Frequency changed. Make sure timing critical "
                << "SUS sensors still produce correct values" << std::endl;
    }

    /**
     * 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 some ADC conversions need a small delay before the results can
     * be read.
     * 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_8, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_8, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_8, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_8, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_8, length * 0.8, DeviceHandlerIF::GET_READ);

    /* Request temperature */
//    thisSequence->addSlot(objects::SUS_8, 2905, DeviceHandlerIF::PERFORM_OPERATION);
//    thisSequence->addSlot(objects::SUS_8, 2906, DeviceHandlerIF::SEND_WRITE);
//    thisSequence->addSlot(objects::SUS_8, 2907, DeviceHandlerIF::GET_WRITE);
//    thisSequence->addSlot(objects::SUS_8, 2908, DeviceHandlerIF::SEND_READ);
//    thisSequence->addSlot(objects::SUS_8, 2909, DeviceHandlerIF::GET_READ);
//
//    /* Read temperature */
//    thisSequence->addSlot(objects::SUS_8, 2910, DeviceHandlerIF::PERFORM_OPERATION);
//    thisSequence->addSlot(objects::SUS_8, 2911, DeviceHandlerIF::SEND_WRITE);
//    thisSequence->addSlot(objects::SUS_8, 2912, DeviceHandlerIF::GET_WRITE);
//    thisSequence->addSlot(objects::SUS_8, 2913, DeviceHandlerIF::SEND_READ);
//    thisSequence->addSlot(objects::SUS_8, 2914, DeviceHandlerIF::GET_READ);
//
//    /* Request and read ADC conversions */
//    thisSequence->addSlot(objects::SUS_8, 2915, DeviceHandlerIF::PERFORM_OPERATION);
//    thisSequence->addSlot(objects::SUS_8, 2916, DeviceHandlerIF::SEND_WRITE);
//    thisSequence->addSlot(objects::SUS_8, 2917, DeviceHandlerIF::GET_WRITE);
//    thisSequence->addSlot(objects::SUS_8, 2918, DeviceHandlerIF::SEND_READ);
//    thisSequence->addSlot(objects::SUS_8, 2919, DeviceHandlerIF::GET_READ);

    /* Write setup */
//    thisSequence->addSlot(objects::SUS_12, length * 0.92, DeviceHandlerIF::PERFORM_OPERATION);
//    thisSequence->addSlot(objects::SUS_12, length * 0.921, DeviceHandlerIF::SEND_WRITE);
//    thisSequence->addSlot(objects::SUS_12, length * 0.922, DeviceHandlerIF::GET_WRITE);
//    thisSequence->addSlot(objects::SUS_12, length * 0.923, DeviceHandlerIF::SEND_READ);
//    thisSequence->addSlot(objects::SUS_12, length * 0.924, DeviceHandlerIF::GET_READ);
//
//    /* Request temperature */
//    thisSequence->addSlot(objects::SUS_12, length * 0.925, DeviceHandlerIF::PERFORM_OPERATION);
//    thisSequence->addSlot(objects::SUS_12, length * 0.926, DeviceHandlerIF::SEND_WRITE);
//    thisSequence->addSlot(objects::SUS_12, length * 0.927, DeviceHandlerIF::GET_WRITE);
//    thisSequence->addSlot(objects::SUS_12, length * 0.928, DeviceHandlerIF::SEND_READ);
//    thisSequence->addSlot(objects::SUS_12, length * 0.929, DeviceHandlerIF::GET_READ);
//
//    /* Read temperature */
//    thisSequence->addSlot(objects::SUS_12, length * 0.93, DeviceHandlerIF::PERFORM_OPERATION);
//    thisSequence->addSlot(objects::SUS_12, length * 0.931, DeviceHandlerIF::SEND_WRITE);
//    thisSequence->addSlot(objects::SUS_12, length * 0.932, DeviceHandlerIF::GET_WRITE);
//    thisSequence->addSlot(objects::SUS_12, length * 0.933, DeviceHandlerIF::SEND_READ);
//    thisSequence->addSlot(objects::SUS_12, length * 0.934, DeviceHandlerIF::GET_READ);
//
//    /* Request and read ADC conversions */
//    thisSequence->addSlot(objects::SUS_12, length * 0.935, DeviceHandlerIF::PERFORM_OPERATION);
//    thisSequence->addSlot(objects::SUS_12, length * 0.936, DeviceHandlerIF::SEND_WRITE);
//    thisSequence->addSlot(objects::SUS_12, length * 0.937, DeviceHandlerIF::GET_WRITE);
//    thisSequence->addSlot(objects::SUS_12, length * 0.938, DeviceHandlerIF::SEND_READ);
//    thisSequence->addSlot(objects::SUS_12, length * 0.939, DeviceHandlerIF::GET_READ);
//
//    /* Write setup */
//    thisSequence->addSlot(objects::SUS_13, length * 0.94, DeviceHandlerIF::PERFORM_OPERATION);
//    thisSequence->addSlot(objects::SUS_13, length * 0.941, DeviceHandlerIF::SEND_WRITE);
//    thisSequence->addSlot(objects::SUS_13, length * 0.942, DeviceHandlerIF::GET_WRITE);
//    thisSequence->addSlot(objects::SUS_13, length * 0.943, DeviceHandlerIF::SEND_READ);
//    thisSequence->addSlot(objects::SUS_13, length * 0.945, DeviceHandlerIF::GET_READ);
//
//    /* Request temperature */
//    thisSequence->addSlot(objects::SUS_13, length * 0.946, DeviceHandlerIF::PERFORM_OPERATION);
//    thisSequence->addSlot(objects::SUS_13, length * 0.947, DeviceHandlerIF::SEND_WRITE);
//    thisSequence->addSlot(objects::SUS_13, length * 0.948, DeviceHandlerIF::GET_WRITE);
//    thisSequence->addSlot(objects::SUS_13, length * 0.949, DeviceHandlerIF::SEND_READ);
//    thisSequence->addSlot(objects::SUS_13, length * 0.95, DeviceHandlerIF::GET_READ);
//
//    /* Read temperature */
//    thisSequence->addSlot(objects::SUS_13, length * 0.95, DeviceHandlerIF::PERFORM_OPERATION);
//    thisSequence->addSlot(objects::SUS_13, length * 0.951, DeviceHandlerIF::SEND_WRITE);
//    thisSequence->addSlot(objects::SUS_13, length * 0.952, DeviceHandlerIF::GET_WRITE);
//    thisSequence->addSlot(objects::SUS_13, length * 0.953, DeviceHandlerIF::SEND_READ);
//    thisSequence->addSlot(objects::SUS_13, length * 0.954, DeviceHandlerIF::GET_READ);
//
//    /* Request and read ADC conversions */
//    thisSequence->addSlot(objects::SUS_13, length * 0.955, DeviceHandlerIF::PERFORM_OPERATION);
//    thisSequence->addSlot(objects::SUS_13, length * 0.956, DeviceHandlerIF::SEND_WRITE);
//    thisSequence->addSlot(objects::SUS_13, length * 0.957, DeviceHandlerIF::GET_WRITE);
//    thisSequence->addSlot(objects::SUS_13, length * 0.958, DeviceHandlerIF::SEND_READ);
//    thisSequence->addSlot(objects::SUS_13, length * 0.959, DeviceHandlerIF::GET_READ);

    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::gomspacePstInit(FixedTimeslotTaskIF *thisSequence){
    uint32_t length = thisSequence->getPeriodMs();

    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 OBSW_ADD_ACS_BOARD == 1
//    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 * 0.4,
//			DeviceHandlerIF::GET_WRITE);
//	thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
//			DeviceHandlerIF::SEND_READ);
//	thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
//			DeviceHandlerIF::GET_READ);

//	thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
//			DeviceHandlerIF::PERFORM_OPERATION);
//	thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
//			DeviceHandlerIF::SEND_WRITE);
//	thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
//			DeviceHandlerIF::GET_WRITE);
//	thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
//			DeviceHandlerIF::SEND_READ);
//	thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
//			DeviceHandlerIF::GET_READ);

//      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 * 0.4,
//              DeviceHandlerIF::GET_WRITE);
//      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.6,
//              DeviceHandlerIF::SEND_READ);
//      thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.8,
//              DeviceHandlerIF::GET_READ);
//
//
//      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
//              DeviceHandlerIF::PERFORM_OPERATION);
//      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
//              DeviceHandlerIF::SEND_WRITE);
//      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
//              DeviceHandlerIF::GET_WRITE);
//      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
//              DeviceHandlerIF::SEND_READ);
//      thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
//              DeviceHandlerIF::GET_READ);


//    thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0,
//			DeviceHandlerIF::PERFORM_OPERATION);
//	thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.2,
//			DeviceHandlerIF::SEND_WRITE);
//	thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.4,
//			DeviceHandlerIF::GET_WRITE);
//	thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.6,
//			DeviceHandlerIF::SEND_READ);
//	thisSequence->addSlot(objects::GYRO_2_L3G_HANDLER, length * 0.8,
//			DeviceHandlerIF::GET_READ);


	thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0,
            DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.2,
            DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.4,
            DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.6,
            DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.8,
            DeviceHandlerIF::GET_READ);

#endif

    if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "Initialization of GomSpace PST failed" << std::endl;
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    return HasReturnvaluesIF::RETURN_OK;
}

ReturnValue_t pst::pollingSequenceAcsTest(FixedTimeslotTaskIF *thisSequence) {
    uint32_t length = thisSequence->getPeriodMs();

    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 * 0.4,
            DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.6,
            DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.8,
            DeviceHandlerIF::GET_READ);

//    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0,
//            DeviceHandlerIF::PERFORM_OPERATION);
//    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.2,
//            DeviceHandlerIF::SEND_WRITE);
//    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.4,
//            DeviceHandlerIF::GET_WRITE);
//    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.6,
//            DeviceHandlerIF::SEND_READ);
//    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.8,
//            DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0,
            DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.2,
            DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.4,
            DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.6,
            DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.8,
            DeviceHandlerIF::GET_READ);
    if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
        sif::error << "Initialization of ACS Board PST failed" << std::endl;
        return HasReturnvaluesIF::RETURN_FAILED;
    }
    return HasReturnvaluesIF::RETURN_OK;
}

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

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

#if TEST_SUS_HANDLER == 1
    thisSequence->addSlot(objects::SUS_1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_1, length * 0.2, DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_1, length * 0.6, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_1, length * 0.8, DeviceHandlerIF::GET_READ);
#endif

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