#include "mission/devices/GyrAdis1650XHandler.h"

#include "fsfw/action/HasActionsIF.h"
#include "fsfw/datapool/PoolReadGuard.h"
#include "mission/devices/devicedefinitions/acsPolling.h"

GyrAdis1650XHandler::GyrAdis1650XHandler(object_id_t objectId, object_id_t deviceCommunication,
                                         CookieIF *comCookie, adis1650x::Type type)
    : DeviceHandlerBase(objectId, deviceCommunication, comCookie),
      adisType(type),
      primaryDataset(this),
      configDataset(this),
      breakCountdown() {
  adisRequest.type = adisType;
}

void GyrAdis1650XHandler::doStartUp() {
  if (internalState != InternalState::STARTUP) {
    internalState = InternalState::STARTUP;
    commandExecuted = false;
  }
  // Initial 310 ms start up time after power-up
  if (internalState == InternalState::STARTUP) {
    if (not commandExecuted) {
      warningSwitch = true;
      breakCountdown.setTimeout(adis1650x::START_UP_TIME);
      commandExecuted = true;
    }
    if (breakCountdown.hasTimedOut()) {
      updatePeriodicReply(true, adis1650x::REPLY);
      if (goToNormalMode) {
        setMode(MODE_NORMAL);
      } else {
        setMode(MODE_ON);
      }
      internalState = InternalState::NONE;
    }
  }
}

void GyrAdis1650XHandler::doShutDown() {
  if (internalState != InternalState::SHUTDOWN) {
    commandExecuted = false;
    primaryDataset.setValidity(false, true);
    internalState = InternalState::SHUTDOWN;
  }
  if (internalState == InternalState::SHUTDOWN and commandExecuted) {
    updatePeriodicReply(false, adis1650x::REPLY);
    internalState = InternalState::NONE;
    commandExecuted = false;
    setMode(_MODE_POWER_DOWN);
  }
}

ReturnValue_t GyrAdis1650XHandler::buildNormalDeviceCommand(DeviceCommandId_t *id) {
  *id = adis1650x::REQUEST;
  return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
}

ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_t *id) {
  switch (internalState) {
    case (InternalState::STARTUP): {
      *id = adis1650x::REQUEST;
      return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
    }
    case (InternalState::SHUTDOWN): {
      *id = adis1650x::REQUEST;
      acs::Adis1650XRequest *request = reinterpret_cast<acs::Adis1650XRequest *>(cmdBuf.data());
      request->mode = acs::SimpleSensorMode::OFF;
      request->type = adisType;
      return returnvalue::OK;
    }
    default: {
      // Might be a configuration error
      sif::debug << "GyroADIS16507Handler::buildTransitionDeviceCommand: "
                    "Unknown internal state!"
                 << std::endl;
      return returnvalue::OK;
    }
  }
  return returnvalue::OK;
}

ReturnValue_t GyrAdis1650XHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                           const uint8_t *commandData,
                                                           size_t commandDataLen) {
  // switch (deviceCommand) {
  //     case (adis1650x::READ_OUT_CONFIG): {
  //       this->rawPacketLen = adis1650x::CONFIG_READOUT_SIZE;
  //       uint8_t regList[6] = {};
  //       regList[0] = adis1650x::DIAG_STAT_REG;
  //       regList[1] = adis1650x::FILTER_CTRL_REG;
  //       regList[2] = adis1650x::RANG_MDL_REG;
  //       regList[3] = adis1650x::MSC_CTRL_REG;
  //       regList[4] = adis1650x::DEC_RATE_REG;
  //       regList[5] = adis1650x::PROD_ID_REG;
  //       adis1650x::prepareReadCommand(regList, sizeof(regList), commandBuffer.data(),
  //                                     commandBuffer.size());
  //       this->rawPacket = commandBuffer.data();
  //       break;
  //     }
  //     case (adis1650x::READ_SENSOR_DATA): {
  //       if (breakCountdown.isBusy()) {
  //         // A glob command is pending and sensor data can't be read currently
  //         return NO_REPLY_EXPECTED;
  //       }
  //       std::memcpy(commandBuffer.data(), adis1650x::BURST_READ_ENABLE.data(),
  //                   adis1650x::BURST_READ_ENABLE.size());
  //       std::memset(commandBuffer.data() + 2, 0, 10 * 2);
  //       this->rawPacketLen = adis1650x::SENSOR_READOUT_SIZE;
  //       this->rawPacket = commandBuffer.data();
  //       break;
  //     }
  //  TODO: Convert to special request

  //    case (adis1650x::SELF_TEST_SENSORS): {
  //      if (breakCountdown.isBusy()) {
  //        // Another glob command is pending
  //        return HasActionsIF::IS_BUSY;
  //      }
  //      prepareWriteCommand(adis1650x::GLOB_CMD, adis1650x::GlobCmds::SENSOR_SELF_TEST, 0x00);
  //      breakCountdown.setTimeout(adis1650x::SELF_TEST_BREAK);
  //      break;
  //    }
  //    case (adis1650x::SELF_TEST_MEMORY): {
  //      if (breakCountdown.isBusy()) {
  //        // Another glob command is pending
  //        return HasActionsIF::IS_BUSY;
  //      }
  //      prepareWriteCommand(adis1650x::GLOB_CMD, adis1650x::GlobCmds::FLASH_MEMORY_TEST, 0x00);
  //      breakCountdown.setTimeout(adis1650x::FLASH_MEMORY_TEST_BREAK);
  //      break;
  //    }
  //    case (adis1650x::UPDATE_NV_CONFIGURATION): {
  //      if (breakCountdown.isBusy()) {
  //        // Another glob command is pending
  //        return HasActionsIF::IS_BUSY;
  //      }
  //      prepareWriteCommand(adis1650x::GLOB_CMD, adis1650x::GlobCmds::FLASH_MEMORY_UPDATE,
  //      0x00); breakCountdown.setTimeout(adis1650x::FLASH_MEMORY_UPDATE_BREAK); break;
  //    }
  //    case (adis1650x::RESET_SENSOR_CONFIGURATION): {
  //      if (breakCountdown.isBusy()) {
  //        // Another glob command is pending
  //        return HasActionsIF::IS_BUSY;
  //      }
  //      prepareWriteCommand(adis1650x::GLOB_CMD, adis1650x::GlobCmds::FACTORY_CALIBRATION,
  //      0x00); breakCountdown.setTimeout(adis1650x::FACTORY_CALIBRATION_BREAK); break;
  //    }
  //    case (adis1650x::SW_RESET): {
  //      if (breakCountdown.isBusy()) {
  //        // Another glob command is pending
  //        return HasActionsIF::IS_BUSY;
  //      }
  //      prepareWriteCommand(adis1650x::GLOB_CMD, adis1650x::GlobCmds::SOFTWARE_RESET, 0x00);
  //      breakCountdown.setTimeout(adis1650x::SW_RESET_BREAK);
  //      break;
  //    }
  //    case (adis1650x::PRINT_CURRENT_CONFIGURATION): {
  //#if OBSW_VERBOSE_LEVEL >= 1
  //      PoolReadGuard pg(&configDataset);
  //      sif::info << "ADIS16507 Sensor configuration: DIAG_STAT: 0x" << std::hex << std::setw(4)
  //                << std::setfill('0') << "0x" << configDataset.diagStatReg.value << std::endl;
  //      sif::info << "MSC_CTRL: " << std::hex << std::setw(4) << "0x"
  //                << configDataset.mscCtrlReg.value << " | FILT_CTRL: 0x"
  //                << configDataset.filterSetting.value << " | DEC_RATE: 0x"
  //                << configDataset.decRateReg.value << std::setfill(' ') << std::endl;
  //#endif /* OBSW_VERBOSE_LEVEL >= 1 */
  //
  //}
  //}
  // return returnvalue::OK;
  return NOTHING_TO_SEND;
}

void GyrAdis1650XHandler::fillCommandAndReplyMap() {
  insertInCommandMap(adis1650x::REQUEST);
  insertInReplyMap(adis1650x::REPLY, 5, nullptr, 0, true);
  // insertInCommandAndReplyMap(adis1650x::READ_SENSOR_DATA, 1, &primaryDataset);
  // insertInCommandAndReplyMap(adis1650x::READ_OUT_CONFIG, 1, &configDataset);
  //  insertInCommandAndReplyMap(adis1650x::SELF_TEST_SENSORS, 1);
  //  insertInCommandAndReplyMap(adis1650x::SELF_TEST_MEMORY, 1);
  //  insertInCommandAndReplyMap(adis1650x::UPDATE_NV_CONFIGURATION, 1);
  //  insertInCommandAndReplyMap(adis1650x::RESET_SENSOR_CONFIGURATION, 1);
  //  insertInCommandAndReplyMap(adis1650x::SW_RESET, 1);
  //  insertInCommandAndReplyMap(adis1650x::PRINT_CURRENT_CONFIGURATION, 1);
}

ReturnValue_t GyrAdis1650XHandler::scanForReply(const uint8_t *start, size_t remainingSize,
                                                DeviceCommandId_t *foundId, size_t *foundLen) {
  if (breakCountdown.isBusy() or getMode() == _MODE_WAIT_OFF or getMode() == _MODE_WAIT_ON) {
    return IGNORE_FULL_PACKET;
  }
  if (remainingSize != sizeof(acs::Adis1650XReply)) {
    *foundLen = remainingSize;
    return returnvalue::FAILED;
  }
  *foundId = adis1650x::REPLY;
  *foundLen = remainingSize;

  return returnvalue::OK;
}

ReturnValue_t GyrAdis1650XHandler::interpretDeviceReply(DeviceCommandId_t id,
                                                        const uint8_t *packet) {
  using namespace adis1650x;
  const acs::Adis1650XReply *reply = reinterpret_cast<const acs::Adis1650XReply *>(packet);
  if (internalState == InternalState::STARTUP and reply->cfgWasSet) {
    switch (adisType) {
      case (adis1650x::Type::ADIS16507): {
        if (reply->cfg.prodId != adis1650x::PROD_ID_16507) {
          sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
                     << reply->cfg.prodId << "for ADIS type 16507" << std::endl;
          return returnvalue::FAILED;
        }
        break;
      }
      case (adis1650x::Type::ADIS16505): {
        if (reply->cfg.prodId != adis1650x::PROD_ID_16505) {
          sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Invalid product ID "
                     << reply->cfg.prodId << "for ADIS type 16505" << std::endl;
          return returnvalue::FAILED;
        }
        break;
      }
    }
    PoolReadGuard rg(&configDataset);
    configDataset.setValidity(true, true);
    configDataset.mscCtrlReg = reply->cfg.mscCtrlReg;
    configDataset.rangMdl = reply->cfg.rangMdl;
    configDataset.diagStatReg = reply->cfg.diagStat;
    configDataset.filterSetting = reply->cfg.filterSetting;
    configDataset.decRateReg = reply->cfg.decRateReg;
    commandExecuted = true;
  }
  if (reply->dataWasSet) {
    {
      PoolReadGuard rg(&configDataset);
      configDataset.diagStatReg = reply->cfg.diagStat;
    }
    auto sensitivity = reply->data.sensitivity;
    auto accelSensitivity = reply->data.accelScaling;
    PoolReadGuard pg(&primaryDataset);
    primaryDataset.setValidity(true, true);
    primaryDataset.angVelocX = static_cast<double>(reply->data.angVelocities[0]) * sensitivity;
    primaryDataset.angVelocY = static_cast<double>(reply->data.angVelocities[1]) * sensitivity;
    primaryDataset.angVelocZ = static_cast<double>(reply->data.angVelocities[2]) * sensitivity;
    // TODO: Check whether we need to divide by INT16_MAX
    primaryDataset.accelX = static_cast<double>(reply->data.accelerations[0]) * accelSensitivity;
    primaryDataset.accelY = static_cast<double>(reply->data.accelerations[1]) * accelSensitivity;
    primaryDataset.accelZ = static_cast<double>(reply->data.accelerations[2]) * accelSensitivity;
    primaryDataset.temperature.value = static_cast<float>(reply->data.temperatureRaw) * 0.1;
  }
  return returnvalue::OK;
}

LocalPoolDataSetBase *GyrAdis1650XHandler::getDataSetHandle(sid_t sid) {
  if (sid.ownerSetId == adis1650x::ADIS_DATASET_ID) {
    return &primaryDataset;
  } else if (sid.ownerSetId == adis1650x::ADIS_CFG_DATASET_ID) {
    return &configDataset;
  }
  return nullptr;
}

// ReturnValue_t GyroADIS1650XHandler::handleSensorData(const uint8_t *packet) {
//   using namespace adis1650x;
//   BurstModes burstMode = getBurstMode();
//   switch (burstMode) {
//     case (BurstModes::BURST_16_BURST_SEL_1):
//     case (BurstModes::BURST_32_BURST_SEL_1): {
//       sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: Analysis with BURST_SEL1"
//                       " not implemented!"
//                    << std::endl;
//       return returnvalue::OK;
//     }
//     case (adis1650x::BurstModes::BURST_16_BURST_SEL_0): {
//       uint16_t checksum = packet[20] << 8 | packet[21];
//       // Now verify the read checksum with the expected checksum according to datasheet p. 20
//       uint16_t calcChecksum = 0;
//       for (size_t idx = 2; idx < 20; idx++) {
//         calcChecksum += packet[idx];
//       }
//       if (checksum != calcChecksum) {
//#if OBSW_VERBOSE_LEVEL >= 1
//         sif::warning << "GyroADIS1650XHandler::interpretDeviceReply: "
//                         "Invalid checksum detected!"
//                      << std::endl;
//#endif
//         return returnvalue::FAILED;
//       }
//
//       ReturnValue_t result = configDataset.diagStatReg.read();
//       if (result == returnvalue::OK) {
//         configDataset.diagStatReg.value = packet[2] << 8 | packet[3];
//         configDataset.diagStatReg.setValid(true);
//       }
//       configDataset.diagStatReg.commit();
//
//       {
//         PoolReadGuard pg(&primaryDataset);
//         int16_t angVelocXRaw = packet[4] << 8 | packet[5];
//         primaryDataset.angVelocX.value = static_cast<float>(angVelocXRaw) * sensitivity;
//         int16_t angVelocYRaw = packet[6] << 8 | packet[7];
//         primaryDataset.angVelocY.value = static_cast<float>(angVelocYRaw) * sensitivity;
//         int16_t angVelocZRaw = packet[8] << 8 | packet[9];
//         primaryDataset.angVelocZ.value = static_cast<float>(angVelocZRaw) * sensitivity;
//
//         float accelScaling = 0;
//         if (adisType == adis1650x::Type::ADIS16507) {
//           accelScaling = adis1650x::ACCELEROMETER_RANGE_16507;
//         } else if (adisType == adis1650x::Type::ADIS16505) {
//           accelScaling = adis1650x::ACCELEROMETER_RANGE_16505;
//         } else {
//           sif::warning << "GyroADIS1650XHandler::handleSensorData: "
//                           "Unknown ADIS type"
//                        << std::endl;
//         }
//         int16_t accelXRaw = packet[10] << 8 | packet[11];
//         primaryDataset.accelX.value = static_cast<float>(accelXRaw) / INT16_MAX * accelScaling;
//         int16_t accelYRaw = packet[12] << 8 | packet[13];
//         primaryDataset.accelY.value = static_cast<float>(accelYRaw) / INT16_MAX * accelScaling;
//         int16_t accelZRaw = packet[14] << 8 | packet[15];
//         primaryDataset.accelZ.value = static_cast<float>(accelZRaw) / INT16_MAX * accelScaling;
//
//         int16_t temperatureRaw = packet[16] << 8 | packet[17];
//         primaryDataset.temperature.value = static_cast<float>(temperatureRaw) * 0.1;
//         // Ignore data counter for now
//         primaryDataset.setValidity(true, true);
//       }
//
//       if (periodicPrintout) {
//         if (debugDivider.checkAndIncrement()) {
//           sif::info << "GyroADIS1650XHandler: Angular velocities in deg / s" << std::endl;
//           sif::info << "X: " << primaryDataset.angVelocX.value << std::endl;
//           sif::info << "Y: " << primaryDataset.angVelocY.value << std::endl;
//           sif::info << "Z: " << primaryDataset.angVelocZ.value << std::endl;
//           sif::info << "GyroADIS1650XHandler: Accelerations in m / s^2: " << std::endl;
//           sif::info << "X: " << primaryDataset.accelX.value << std::endl;
//           sif::info << "Y: " << primaryDataset.accelY.value << std::endl;
//           sif::info << "Z: " << primaryDataset.accelZ.value << std::endl;
//         }
//       }
//
//       break;
//     }
//     case (BurstModes::BURST_32_BURST_SEL_0): {
//       break;
//     }
//   }
//   return returnvalue::OK;
// }

uint32_t GyrAdis1650XHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 6000; }

void GyrAdis1650XHandler::prepareWriteCommand(uint8_t startReg, uint8_t valueOne,
                                              uint8_t valueTwo) {
  uint8_t secondReg = startReg + 1;
  startReg |= adis1650x::WRITE_MASK;
  secondReg |= adis1650x::WRITE_MASK;
  cmdBuf[0] = startReg;
  cmdBuf[1] = valueOne;
  cmdBuf[2] = secondReg;
  cmdBuf[3] = valueTwo;
  this->rawPacketLen = 4;
  this->rawPacket = cmdBuf.data();
}

ReturnValue_t GyrAdis1650XHandler::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                           LocalDataPoolManager &poolManager) {
  localDataPoolMap.emplace(adis1650x::ANG_VELOC_X, new PoolEntry<double>({0.0}));
  localDataPoolMap.emplace(adis1650x::ANG_VELOC_Y, new PoolEntry<double>({0.0}));
  localDataPoolMap.emplace(adis1650x::ANG_VELOC_Z, new PoolEntry<double>({0.0}));
  localDataPoolMap.emplace(adis1650x::ACCELERATION_X, new PoolEntry<double>({0.0}));
  localDataPoolMap.emplace(adis1650x::ACCELERATION_Y, new PoolEntry<double>({0.0}));
  localDataPoolMap.emplace(adis1650x::ACCELERATION_Z, new PoolEntry<double>({0.0}));
  localDataPoolMap.emplace(adis1650x::TEMPERATURE, new PoolEntry<float>({0.0}));

  localDataPoolMap.emplace(adis1650x::DIAG_STAT_REGISTER, new PoolEntry<uint16_t>());
  localDataPoolMap.emplace(adis1650x::FILTER_SETTINGS, new PoolEntry<uint8_t>());
  localDataPoolMap.emplace(adis1650x::RANG_MDL, &rangMdl);
  localDataPoolMap.emplace(adis1650x::MSC_CTRL_REGISTER, new PoolEntry<uint16_t>());
  localDataPoolMap.emplace(adis1650x::DEC_RATE_REGISTER, new PoolEntry<uint16_t>());
  poolManager.subscribeForRegularPeriodicPacket(
      subdp::RegularHkPeriodicParams(primaryDataset.getSid(), false, 5.0));
  return returnvalue::OK;
}

adis1650x::BurstModes GyrAdis1650XHandler::getBurstMode() {
  using namespace adis1650x;
  configDataset.mscCtrlReg.read();
  uint16_t currentCtrlReg = configDataset.mscCtrlReg.value;
  configDataset.mscCtrlReg.commit();
  return adis1650x::burstModeFromMscCtrl(currentCtrlReg);
}

//#ifdef FSFW_OSAL_LINUX

// ReturnValue_t GyroADIS1650XHandler::spiSendCallback(SpiComIF *comIf, SpiCookie *cookie,
//                                                     const uint8_t *sendData, size_t sendLen,
//                                                     void *args) {
//   GyroADIS1650XHandler *handler = reinterpret_cast<GyroADIS1650XHandler *>(args);
//   if (handler == nullptr) {
//     sif::error << "GyroADIS16507Handler::spiSendCallback: Passed handler pointer is invalid!"
//                << std::endl;
//     return returnvalue::FAILED;
//   }
//   DeviceCommandId_t currentCommand = handler->getPendingCommand();
//   switch (currentCommand) {
//     case (adis1650x::READ_SENSOR_DATA): {
//       return comIf->performRegularSendOperation(cookie, sendData, sendLen);
//     }
//     case (adis1650x::READ_OUT_CONFIG):
//     default: {
//       ReturnValue_t result = returnvalue::OK;
//       int retval = 0;
//       // Prepare transfer
//       int fileDescriptor = 0;
//       std::string device = comIf->getSpiDev();
//       UnixFileGuard fileHelper(device, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
//       if (fileHelper.getOpenResult() != returnvalue::OK) {
//         return SpiComIF::OPENING_FILE_FAILED;
//       }
//       spi::SpiModes spiMode = spi::SpiModes::MODE_0;
//       uint32_t spiSpeed = 0;
//       cookie->getSpiParameters(spiMode, spiSpeed, nullptr);
//       comIf->setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
//       cookie->assignWriteBuffer(sendData);
//       cookie->setTransferSize(2);
//
//       gpioId_t gpioId = cookie->getChipSelectPin();
//       GpioIF &gpioIF = comIf->getGpioInterface();
//       MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
//       uint32_t timeoutMs = 0;
//       MutexIF *mutex = comIf->getCsMutex();
//       cookie->getMutexParams(timeoutType, timeoutMs);
//       if (mutex == nullptr) {
//#if OBSW_VERBOSE_LEVEL >= 1
//         sif::warning << "GyroADIS16507Handler::spiSendCallback: "
//                         "Mutex or GPIO interface invalid"
//                      << std::endl;
//         return returnvalue::FAILED;
//#endif
//       }
//
//       if (gpioId != gpio::NO_GPIO) {
//         result = mutex->lockMutex(timeoutType, timeoutMs);
//         if (result != returnvalue::OK) {
//#if FSFW_CPP_OSTREAM_ENABLED == 1
//           sif::error << "SpiComIF::sendMessage: Failed to lock mutex" << std::endl;
//#endif
//           return result;
//         }
//       }
//
//       size_t idx = 0;
//       spi_ioc_transfer *transferStruct = cookie->getTransferStructHandle();
//       uint64_t origTx = transferStruct->tx_buf;
//       uint64_t origRx = transferStruct->rx_buf;
//       while (idx < sendLen) {
//         // Pull SPI CS low. For now, no support for active high given
//         if (gpioId != gpio::NO_GPIO) {
//           gpioIF.pullLow(gpioId);
//         }
//
//         // Execute transfer
//         // Initiate a full duplex SPI transfer.
//         retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie->getTransferStructHandle());
//         if (retval < 0) {
//           utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
//           result = SpiComIF::FULL_DUPLEX_TRANSFER_FAILED;
//         }
//#if FSFW_HAL_SPI_WIRETAPPING == 1
//         comIf->performSpiWiretapping(cookie);
//#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
//
//         if (gpioId != gpio::NO_GPIO) {
//           gpioIF.pullHigh(gpioId);
//         }
//
//         idx += 2;
//         if (idx < sendLen) {
//           usleep(adis1650x::STALL_TIME_MICROSECONDS);
//         }
//
//         transferStruct->tx_buf += 2;
//         transferStruct->rx_buf += 2;
//       }
//       transferStruct->tx_buf = origTx;
//       transferStruct->rx_buf = origRx;
//       if (gpioId != gpio::NO_GPIO) {
//         mutex->unlockMutex();
//       }
//     }
//   }
//   return returnvalue::OK;
// }

void GyrAdis1650XHandler::setToGoToNormalModeImmediately() { goToNormalMode = true; }

void GyrAdis1650XHandler::enablePeriodicPrintouts(bool enable, uint8_t divider) {
  periodicPrintout = enable;
  debugDivider.setDivider(divider);
}

ReturnValue_t GyrAdis1650XHandler::preparePeriodicRequest(acs::SimpleSensorMode mode) {
  adisRequest.mode = mode;
  rawPacket = reinterpret_cast<uint8_t *>(&adisRequest);
  rawPacketLen = sizeof(acs::Adis1650XRequest);
  return returnvalue::OK;
}