#include "pollingSequenceFactory.h"

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

#include "mission/devices/devicedefinitions/Max31865Definitions.h"

#ifndef RPI_TEST_ADIS16507
#define RPI_TEST_ADIS16507 0
#endif

#ifndef RPI_TEST_GPS_HANDLER
#define RPI_TEST_GPS_HANDLER 0
#endif

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

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

  static_cast<void>(length);
#if OBSW_ADD_PL_PCDU == 1
  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::PLPCDU_HANDLER, length * 0, DeviceHandlerIF::GET_READ);
#endif

#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

  return thisSequence->checkSequence();
}

// I don't think this needs to be in a PST because linux takes care of bus serialization, but
// keep it like this for now, it works
ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
  // Length of a communication cycle
  uint32_t length = thisSequence->getPeriodMs();
  static_cast<void>(length);
#if OBSW_ADD_BPX_BATTERY_HANDLER == 1
  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2,
                        DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.2, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.25, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::BPX_BATT_HANDLER, length * 0.25, DeviceHandlerIF::GET_READ);
#endif
  // These are actually part of another bus, but this works, so keep it like this for now
#if OBSW_ADD_TMP_DEVICES == 1
  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4,
                        DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_0, length * 0.4, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4,
                        DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::TMP1075_HANDLER_TCS_1, length * 0.4, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
                        DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
                        DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
                        DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4,
                        DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_0, length * 0.4, DeviceHandlerIF::GET_READ);
  // damaged
  /*
  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
                        DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
                        DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
                        DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4,
                        DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::TMP1075_HANDLER_PLPCDU_1, length * 0.4, DeviceHandlerIF::GET_READ);
  */
  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
                        DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
                        DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
                        DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4,
                        DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::TMP1075_HANDLER_IF_BOARD, length * 0.4, DeviceHandlerIF::GET_READ);
#endif
  static_cast<void>(length);
  return thisSequence->checkSequence();
}

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::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() != returnvalue::OK) {
    sif::error << "GomSpace PST initialization failed" << std::endl;
    return returnvalue::FAILED;
  }
  static_cast<void>(length);
  return returnvalue::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 returnvalue::FAILED;
  }
  if (thisSequence->checkSequence() != returnvalue::OK) {
    sif::error << "Test PST initialization failed" << std::endl;
    return returnvalue::FAILED;
  }
  return returnvalue::OK;
}

ReturnValue_t pst::pstAcs(FixedTimeslotTaskIF *thisSequence) {
  /* Length of a communication cycle */
  uint32_t length = thisSequence->getPeriodMs();
#if OBSW_ADD_ACS_BOARD == 1
  bool enableAside = true;
  bool enableBside = true;
  if (enableAside) {
    // A side
    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::MGM_0_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::MGM_1_RM3100_HANDLER, length * 0.0625,
                          DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::GYRO_0_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::GYRO_1_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
  }

  if (enableBside) {
    // B side
    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::MGM_2_LIS3_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::MGM_3_RM3100_HANDLER, length * 0.0625,
                          DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::GYRO_2_ADIS_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::GYRO_3_L3G_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
  }
#endif /* OBSW_ADD_ACS_BOARD == 1 */
  // SUS: 16 ms
#if OBSW_ADD_SUN_SENSORS == 1

  bool addSus0 = true;
  bool addSus1 = true;
  bool addSus2 = true;
  bool addSus3 = true;
  bool addSus4 = true;
  bool addSus5 = true;
  bool addSus6 = true;
  bool addSus7 = true;
  bool addSus8 = true;
  bool addSus9 = true;
  bool addSus10 = true;
  bool addSus11 = true;

  if (addSus0) {
    /* Write setup */
    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_0_N_LOC_XFYFZM_PT_XF, length * 0.0325,
                          DeviceHandlerIF::GET_READ);
  }
  if (addSus1) {
    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_1_N_LOC_XBYFZM_PT_XB, length * 0.0325,
                          DeviceHandlerIF::GET_READ);
  }
  if (addSus2) {
    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_2_N_LOC_XFYBZB_PT_YB, length * 0.0325,
                          DeviceHandlerIF::GET_READ);
  }
  if (addSus3) {
    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_3_N_LOC_XFYBZF_PT_YF, length * 0.0325,
                          DeviceHandlerIF::GET_READ);
  }
  if (addSus4) {
    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_4_N_LOC_XMYFZF_PT_ZF, length * 0.0325,
                          DeviceHandlerIF::GET_READ);
  }
  if (addSus5) {
    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_5_N_LOC_XFYMZB_PT_ZB, length * 0.0325,
                          DeviceHandlerIF::GET_READ);
  }

  if (addSus6) {
    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_6_R_LOC_XFYBZM_PT_XF, length * 0.0325,
                          DeviceHandlerIF::GET_READ);
  }

  if (addSus7) {
    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_7_R_LOC_XBYBZM_PT_XB, length * 0.0325,
                          DeviceHandlerIF::GET_READ);
  }

  if (addSus8) {
    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0, DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_8_R_LOC_XBYBZB_PT_YB, length * 0.0325,
                          DeviceHandlerIF::GET_READ);
  }

  if (addSus9) {
    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0, DeviceHandlerIF::GET_READ);
    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_9_R_LOC_XBYBZB_PT_YF, length * 0.0325,
                          DeviceHandlerIF::GET_READ);
  }

  if (addSus10) {
    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0,
                          DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_10_N_LOC_XMYBZF_PT_ZF, length * 0.0325,
                          DeviceHandlerIF::GET_READ);
  }

  if (addSus11) {
    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
                          DeviceHandlerIF::PERFORM_OPERATION);
    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0,
                          DeviceHandlerIF::GET_READ);

    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
                          DeviceHandlerIF::SEND_WRITE);
    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
                          DeviceHandlerIF::GET_WRITE);
    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
                          DeviceHandlerIF::SEND_READ);
    thisSequence->addSlot(objects::SUS_11_R_LOC_XBYMZB_PT_ZB, length * 0.0325,
                          DeviceHandlerIF::GET_READ);
  }
#endif /* OBSW_ADD_SUN_SENSORS == 1 */

#if OBSW_ADD_STAR_TRACKER == 1
  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::STAR_TRACKER, length * 0, DeviceHandlerIF::GET_READ);
#endif

#if OBSW_ADD_MGT == 1
  // This is the MTM measurement cycle
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.0625, DeviceHandlerIF::GET_READ);
#endif

  thisSequence->addSlot(objects::ACS_CONTROLLER, length * 0.1, 0);

#if OBSW_ADD_MGT == 1
  // This is the torquing cycle.
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::IMTQ_HANDLER, length * 0.1125, DeviceHandlerIF::GET_READ);
#endif

#if OBSW_ADD_RW == 1
  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);
  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::PERFORM_OPERATION);

  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::SEND_WRITE);
  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::SEND_WRITE);

  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::GET_WRITE);
  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::GET_WRITE);

  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::SEND_READ);
  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::SEND_READ);

  thisSequence->addSlot(objects::RW1, length * 0.1125, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RW2, length * 0.1125, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RW3, length * 0.1125, DeviceHandlerIF::GET_READ);
  thisSequence->addSlot(objects::RW4, length * 0.1125, DeviceHandlerIF::GET_READ);
#endif
  return returnvalue::OK;
}