eive-obsw/linux/payload/FreshSupvHandler.cpp

#include "FreshSupvHandler.h"

#include <fsfw/datapool/PoolReadGuard.h>
#include <fsfw/filesystem.h>

#include <atomic>
#include <filesystem>

#include "eive/definitions.h"
#include "fsfw/ipc/MessageQueueIF.h"
#include "fsfw/ipc/QueueFactory.h"
#include "fsfw/returnvalues/returnvalue.h"

using namespace supv;
using namespace returnvalue;

std::atomic_bool supv::SUPV_ON = false;

FreshSupvHandler::FreshSupvHandler(DhbConfig cfg, CookieIF* comCookie, Gpio uartIsolatorSwitch,
                                   PowerSwitchIF& switchIF, power::Switch_t powerSwitch,
                                   PlocSupvUartManager& supvHelper)
    : FreshDeviceHandlerBase(cfg),
      uartManager(supvHelper),
      comCookie(comCookie),
      switchIF(switchIF),
      switchId(powerSwitch),
      uartIsolatorSwitch(uartIsolatorSwitch),
      hkSet(this),
      bootStatusReport(this),
      latchupStatusReport(this),
      countersReport(this),
      adcReport(this) {
  eventQueue = QueueFactory::instance()->createMessageQueue(EventMessage::EVENT_MESSAGE_SIZE * 5);
}

void FreshSupvHandler::performDeviceOperation(uint8_t opCode) {
  if (not transitionActive and mode == MODE_OFF) {
    // Nothing to do for now.
    return;
  }
  if (opCode == OpCode::DEFAULT_OPERATION) {
    EventMessage event;
    for (ReturnValue_t result = eventQueue->receiveMessage(&event); result == returnvalue::OK;
         result = eventQueue->receiveMessage(&event)) {
      switch (event.getMessageId()) {
        case EventMessage::EVENT_MESSAGE:
          handleEvent(&event);
          break;
        default:
          sif::debug
              << "PlocSupervisorHandler::performOperationHook: Did not subscribe to this event"
              << " message" << std::endl;
          break;
      }
    }
    if (transitionActive) {
      if (targetMode == MODE_ON or targetMode == MODE_NORMAL) {
        handleTransitionToOn();
      } else if (targetMode == MODE_OFF) {
        handleTransitionToOff();
      } else {
        // This should never happen.
        sif::error << "FreshSupvHandler: Invalid transition mode: " << targetMode << std::endl;
        targetMode = MODE_OFF;
        targetSubmode = 0;
        handleTransitionToOff();
      }
    } else {
      if (mode == MODE_NORMAL) {
        if (hkRequestCmdInfo.isPending and hkRequestCmdInfo.cmdCountdown.hasTimedOut()) {
          // trigger event? might lead to spam...
          sif::warning << "FreshSupvHandler: No reply received for HK set request" << std::endl;
          hkRequestCmdInfo.isPending = false;
        }
        // Normal mode handling. Request normal data sets and add them to command map.
        if (not hkRequestCmdInfo.isPending) {
          hkRequestCmdInfo.cmdCountdown.resetTimer();
          hkRequestCmdInfo.ackExeRecv = false;
          hkRequestCmdInfo.ackRecv = false;
          sendEmptyCmd(Apid::HK, static_cast<uint8_t>(tc::HkId::GET_REPORT));
        }
      }
    }
  } else if (opCode == OpCode::HANDLE_ACTIVE_CMDS) {
    std::vector<ActionId_t> cmdsToRemove;
    for (auto& activeCmd : activeActionCmds) {
      if (activeCmd.second.cmdCountdown.hasTimedOut()) {
        if (activeCmd.second.commandedBy != MessageQueueIF::NO_QUEUE) {
          actionHelper.finish(false, activeCmd.second.commandedBy, activeCmd.first,
                              DeviceHandlerIF::TIMEOUT);
        }
        activeCmd.second.isPending = false;
      }
    }

    parseTmPackets();
  }
}

ReturnValue_t FreshSupvHandler::handleCommandMessage(CommandMessage* message) {
  // No custom messages.
  return returnvalue::FAILED;
}

LocalPoolDataSetBase* FreshSupvHandler::getDataSetHandle(sid_t sid) {
  if (sid == hkSet.getSid()) {
    return &hkSet;
  } else if (sid == bootStatusReport.getSid()) {
    return &bootStatusReport;
  } else if (sid == latchupStatusReport.getSid()) {
    return &latchupStatusReport;
  } else if (sid == countersReport.getSid()) {
    return &countersReport;
  } else if (sid == adcReport.getSid()) {
    return &adcReport;
  }
  return nullptr;
}

ReturnValue_t FreshSupvHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                        LocalDataPoolManager& poolManager) {
  // TODO: Copy code from god handler here.
  localDataPoolMap.emplace(supv::NUM_TMS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::TEMP_PS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::TEMP_PL, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::HK_SOC_STATE, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::NVM0_1_STATE, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(supv::NVM3_STATE, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(supv::MISSION_IO_STATE, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(supv::FMC_STATE, &fmcStateEntry);
  localDataPoolMap.emplace(supv::NUM_TCS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::TEMP_SUP, &tempSupEntry);
  localDataPoolMap.emplace(supv::UPTIME, new PoolEntry<uint64_t>({0}));
  localDataPoolMap.emplace(supv::CPULOAD, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::AVAILABLEHEAP, new PoolEntry<uint32_t>({0}));

  localDataPoolMap.emplace(supv::BR_SOC_STATE, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(supv::POWER_CYCLES, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(supv::BOOT_AFTER_MS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::BOOT_TIMEOUT_POOL_VAR_MS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::ACTIVE_NVM, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(supv::BP0_STATE, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(supv::BP1_STATE, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(supv::BP2_STATE, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(supv::BOOT_STATE, &bootStateEntry);
  localDataPoolMap.emplace(supv::BOOT_CYCLES, &bootCyclesEntry);

  localDataPoolMap.emplace(supv::LATCHUP_ID, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(supv::CNT0, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(supv::CNT1, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(supv::CNT2, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(supv::CNT3, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(supv::CNT4, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(supv::CNT5, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(supv::CNT6, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_MSEC, new PoolEntry<uint16_t>({0}));
  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_SEC, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_MIN, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_HOUR, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_DAY, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_MON, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(supv::LATCHUP_RPT_TIME_YEAR, new PoolEntry<uint8_t>({0}));
  localDataPoolMap.emplace(supv::LATCHUP_RPT_IS_SET, new PoolEntry<uint8_t>({0}));

  localDataPoolMap.emplace(supv::SIGNATURE, new PoolEntry<uint32_t>());
  localDataPoolMap.emplace(supv::LATCHUP_HAPPENED_CNTS, &latchupCounters);
  localDataPoolMap.emplace(supv::ADC_DEVIATION_TRIGGERS_CNT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::TC_RECEIVED_CNT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::TM_AVAILABLE_CNT, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::SUPERVISOR_BOOTS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::MPSOC_BOOTS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::MPSOC_BOOT_FAILED_ATTEMPTS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::MPSOC_POWER_UP, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::MPSOC_UPDATES, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::MPSOC_HEARTBEAT_RESETS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::CPU_WDT_RESETS, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::PS_HEARTBEATS_LOST, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::PL_HEARTBEATS_LOST, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::EB_TASK_LOST, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::BM_TASK_LOST, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::LM_TASK_LOST, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::AM_TASK_LOST, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::TCTMM_TASK_LOST, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::MM_TASK_LOST, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::HK_TASK_LOST, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::DL_TASK_LOST, new PoolEntry<uint32_t>({0}));
  localDataPoolMap.emplace(supv::RWS_TASKS_LOST, new PoolEntry<uint32_t>(3));

  localDataPoolMap.emplace(supv::ADC_RAW, &adcRawEntry);
  localDataPoolMap.emplace(supv::ADC_ENG, &adcEngEntry);

  poolManager.subscribeForRegularPeriodicPacket(
      subdp::RegularHkPeriodicParams(hkSet.getSid(), false, 10.0));
  return returnvalue::OK;
}

ReturnValue_t FreshSupvHandler::executeAction(ActionId_t actionId, MessageQueueId_t commandedBy,
                                              const uint8_t* data, size_t size) {
  // TODO: Handle all commands here. Need to add them to some command map. Send command immediately
  // then.
  using namespace supv;
  ReturnValue_t result;
  if (uartManager.longerRequestActive()) {
    return result::SUPV_HELPER_EXECUTING;
  }

  switch (actionId) {
    case PERFORM_UPDATE: {
      if (size > config::MAX_PATH_SIZE + config::MAX_FILENAME_SIZE) {
        return result::FILENAME_TOO_LONG;
      }
      UpdateParams params;
      result = extractUpdateCommand(data, size, params);
      if (result != returnvalue::OK) {
        return result;
      }
      result = uartManager.performUpdate(params);
      if (result != returnvalue::OK) {
        return result;
      }
      return EXECUTION_FINISHED;
    }
    case CONTINUE_UPDATE: {
      uartManager.initiateUpdateContinuation();
      return EXECUTION_FINISHED;
    }
    case MEMORY_CHECK_WITH_FILE: {
      UpdateParams params;
      result = extractBaseParams(&data, size, params);
      if (result != returnvalue::OK) {
        return result;
      }
      if (not std::filesystem::exists(params.file)) {
        return HasFileSystemIF::FILE_DOES_NOT_EXIST;
      }
      uartManager.performMemCheck(params.file, params.memId, params.startAddr);
      return EXECUTION_FINISHED;
    }
    default:
      break;
  }
  if (isCommandAlreadyActive(actionId)) {
    return HasActionsIF::IS_BUSY;
  }
  spParams.buf = commandBuffer.data();
  switch (actionId) {
    case GET_HK_REPORT: {
      sendEmptyCmd(Apid::HK, static_cast<uint8_t>(tc::HkId::GET_REPORT));
      result = returnvalue::OK;
      break;
    }
    case START_MPSOC: {
      sif::info << "PLOC SUPV: Starting MPSoC" << std::endl;
      sendEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::START_MPSOC));
      result = returnvalue::OK;
      break;
    }
    case SHUTDOWN_MPSOC: {
      sif::info << "PLOC SUPV: Shutting down MPSoC" << std::endl;
      sendEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::SHUTDOWN_MPSOC));
      result = returnvalue::OK;
      break;
    }
    case SEL_MPSOC_BOOT_IMAGE: {
      prepareSelBootImageCmd(data);
      result = returnvalue::OK;
      break;
    }
    case RESET_MPSOC: {
      sif::info << "PLOC SUPV: Resetting MPSoC" << std::endl;
      sendEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::RESET_MPSOC));
      result = returnvalue::OK;
      break;
    }
    case SET_TIME_REF: {
      result = prepareSetTimeRefCmd();
      break;
    }
    case SET_BOOT_TIMEOUT: {
      prepareSetBootTimeoutCmd(data, size);
      result = returnvalue::OK;
      break;
    }
    case SET_MAX_RESTART_TRIES: {
      prepareRestartTriesCmd(data, size);
      result = returnvalue::OK;
      break;
    }
    case DISABLE_PERIOIC_HK_TRANSMISSION: {
      prepareDisableHk();
      result = returnvalue::OK;
      break;
    }
    case GET_BOOT_STATUS_REPORT: {
      sendEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::GET_BOOT_STATUS_REPORT));
      result = returnvalue::OK;
      break;
    }
    case ENABLE_LATCHUP_ALERT: {
      result = prepareLatchupConfigCmd(data, actionId, size);
      break;
    }
    case DISABLE_LATCHUP_ALERT: {
      result = prepareLatchupConfigCmd(data, actionId, size);
      break;
    }
    case SET_ALERT_LIMIT: {
      result = prepareSetAlertLimitCmd(data, size);
      break;
    }
    case GET_LATCHUP_STATUS_REPORT: {
      sendEmptyCmd(Apid::LATCHUP_MON, static_cast<uint8_t>(tc::LatchupMonId::GET_STATUS_REPORT));
      result = returnvalue::OK;
      break;
    }
    case SET_GPIO: {
      result = prepareSetGpioCmd(data, size);
      break;
    }
    case FACTORY_RESET: {
      result = prepareFactoryResetCmd(data, size);
      break;
    }
    case READ_GPIO: {
      result = prepareReadGpioCmd(data, size);
      break;
    }
    case SET_SHUTDOWN_TIMEOUT: {
      prepareSetShutdownTimeoutCmd(data, size);
      result = returnvalue::OK;
      break;
    }
    case FACTORY_FLASH: {
      sendEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::FACTORY_FLASH));
      result = returnvalue::OK;
      break;
    }
    case RESET_PL: {
      sendEmptyCmd(Apid::BOOT_MAN, static_cast<uint8_t>(tc::BootManId::RESET_PL));
      result = returnvalue::OK;
      break;
    }
    case SET_ADC_ENABLED_CHANNELS: {
      prepareSetAdcEnabledChannelsCmd(data);
      result = returnvalue::OK;
      break;
    }
    case SET_ADC_WINDOW_AND_STRIDE: {
      prepareSetAdcWindowAndStrideCmd(data);
      result = returnvalue::OK;
      break;
    }
    case SET_ADC_THRESHOLD: {
      prepareSetAdcThresholdCmd(data);
      result = returnvalue::OK;
      break;
    }
    case WIPE_MRAM: {
      result = prepareWipeMramCmd(data, size);
      break;
    }
    case REQUEST_ADC_REPORT: {
      sendEmptyCmd(Apid::ADC_MON, static_cast<uint8_t>(tc::AdcMonId::REQUEST_ADC_SAMPLE));
      result = returnvalue::OK;
      break;
    }
    case REQUEST_LOGGING_COUNTERS: {
      sendEmptyCmd(Apid::DATA_LOGGER,
                   static_cast<uint8_t>(tc::DataLoggerServiceId::REQUEST_COUNTERS));
      result = returnvalue::OK;
      break;
    }
    default:
      sif::debug << "PlocSupervisorHandler::buildCommandFromCommand: Command not implemented"
                 << std::endl;
      result = DeviceHandlerIF::COMMAND_NOT_IMPLEMENTED;
      break;
  }
  return result;
}

ReturnValue_t FreshSupvHandler::prepareSetTimeRefCmd() {
  Clock::TimeOfDay_t time;
  ReturnValue_t result = Clock::getDateAndTime(&time);
  if (result != returnvalue::OK) {
    sif::warning << "PlocSupervisorHandler::prepareSetTimeRefCmd: Failed to get current time"
                 << std::endl;
    return result::GET_TIME_FAILURE;
  }
  supv::SetTimeRef packet(spParams);
  result = packet.buildPacket(&time);
  if (result != returnvalue::OK) {
    return result;
  }
  sendCommand(packet);
  return returnvalue::OK;
}

ReturnValue_t FreshSupvHandler::checkModeCommand(Mode_t commandedMode, Submode_t commandedSubmode,
                                                 uint32_t* msToReachTheMode) {
  if (commandedMode != MODE_OFF) {
    PoolReadGuard pg(&enablePl);
    if (pg.getReadResult() == returnvalue::OK) {
      if (enablePl.plUseAllowed.isValid() and not enablePl.plUseAllowed.value) {
        return NON_OP_STATE_OF_CHARGE;
      }
    }
  }
  if (commandedMode != HasModesIF::MODE_OFF and commandedMode != HasModesIF::MODE_ON and
      commandedMode != MODE_NORMAL) {
    return returnvalue::FAILED;
  }
  if (commandedMode != mode and msToReachTheMode != nullptr) {
    if (commandedMode == MODE_OFF) {
      *msToReachTheMode = supv::MAX_TRANSITION_TIME_TO_OFF_MS;
    } else {
      *msToReachTheMode = supv::MAX_TRANSITION_TIME_TO_ON_MS;
    }
  }
  return returnvalue::OK;
}

ReturnValue_t FreshSupvHandler::prepareSelBootImageCmd(const uint8_t* commandData) {
  supv::MPSoCBootSelect packet(spParams);
  ReturnValue_t result =
      packet.buildPacket(commandData[0], commandData[1], commandData[2], commandData[3]);
  if (result != returnvalue::OK) {
    return result;
  }
  sendCommand(packet);
  return returnvalue::OK;
}

void FreshSupvHandler::startTransition(Mode_t newMode, Submode_t newSubmode) {
  if (newMode == mode) {
    // Can finish immediately.
    setMode(newMode, newSubmode);
    return;
  }
  // Transition for both OFF to ON/NORMAL and ON/NORMAL to OFF require small state machine.
  transitionActive = true;
  targetMode = newMode;
  targetSubmode = newSubmode;
  if (targetMode == MODE_ON or targetMode == MODE_NORMAL) {
    startupState = StartupState::IDLE;
  } else if (targetMode == MODE_OFF) {
    shutdownState = ShutdownState::IDLE;
  }
}

void FreshSupvHandler::handleTransitionToOn() {
  if (startupState == StartupState::IDLE) {
    bootTimeout.resetTimer();
    startupState = StartupState::POWER_SWITCHING;
    switchIF.sendSwitchCommand(switchId, PowerSwitchIF::SWITCH_ON);
  } else {
    if (modeHelper.isTimedOut()) {
      targetMode = MODE_OFF;
      shutdownState = ShutdownState::IDLE;
      handleTransitionToOff();
      return;
    }
  }
  if (startupState == StartupState::POWER_SWITCHING) {
    if (switchIF.getSwitchState(switchId) == PowerSwitchIF::SWITCH_ON) {
      startupState = StartupState::BOOTING;
    }
  }
  if (startupState == StartupState::BOOTING) {
    if (bootTimeout.hasTimedOut()) {
      uartIsolatorSwitch.pullHigh();
      uartManager.start();
      if (SET_TIME_DURING_BOOT) {
        // TODO: Send command ,add command to command map.
        startupState = StartupState::SET_TIME;
      } else {
        startupState = StartupState::ON;
      }
    }
  }
  if (startupState == StartupState::TIME_WAS_SET) {
    startupState = StartupState::ON;
  }
  if (startupState == StartupState::ON) {
    hkSet.setReportingEnabled(true);
    supv::SUPV_ON = true;
    setMode(targetMode);
  }
}

void FreshSupvHandler::handleTransitionToOff() {
  if (shutdownState == ShutdownState::IDLE) {
    hkSet.setReportingEnabled(false);
    hkSet.setValidity(false, true);
    uartManager.stop();
    uartIsolatorSwitch.pullLow();
    switchIF.sendSwitchCommand(switchId, PowerSwitchIF::SWITCH_OFF);
    shutdownState = ShutdownState::POWER_SWITCHING;
  }
  if (shutdownState == ShutdownState::POWER_SWITCHING) {
    if (switchIF.getSwitchState(switchId) == PowerSwitchIF::SWITCH_OFF or modeHelper.isTimedOut()) {
      supv::SUPV_ON = false;
      setMode(MODE_OFF);
    }
  }
}

ReturnValue_t FreshSupvHandler::sendCommand(TcBase& tc) {
  if (DEBUG_PLOC_SUPV) {
    sif::debug << "PLOC SUPV: SEND PACKET Size " << tc.getFullPacketLen() << " Module APID "
               << (int)tc.getModuleApid() << " Service ID " << (int)tc.getServiceId() << std::endl;
  }
  return uartManager.sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
}

ReturnValue_t FreshSupvHandler::initialize() {
  uartManager.initializeInterface(comCookie);

  ReturnValue_t result = eventSubscription();
  if (result != returnvalue::OK) {
    return result;
  }
  return FreshDeviceHandlerBase::initialize();
}

ReturnValue_t FreshSupvHandler::sendEmptyCmd(uint16_t apid, uint8_t serviceId) {
  supv::NoPayloadPacket packet(spParams, apid, serviceId);
  ReturnValue_t result = packet.buildPacket();
  if (result != returnvalue::OK) {
    return result;
  }
  sendCommand(packet);
  return returnvalue::OK;
}

ReturnValue_t FreshSupvHandler::prepareSetBootTimeoutCmd(const uint8_t* commandData,
                                                         size_t cmdDataLen) {
  if (cmdDataLen < 4) {
    return HasActionsIF::INVALID_PARAMETERS;
  }
  supv::SetBootTimeout packet(spParams);
  uint32_t timeout = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
                     *(commandData + 3);
  ReturnValue_t result = packet.buildPacket(timeout);
  if (result != returnvalue::OK) {
    return result;
  }
  sendCommand(packet);
  return returnvalue::OK;
}

ReturnValue_t FreshSupvHandler::prepareRestartTriesCmd(const uint8_t* commandData,
                                                       size_t cmdDataLen) {
  if (cmdDataLen < 1) {
    return HasActionsIF::INVALID_PARAMETERS;
  }
  uint8_t restartTries = *(commandData);
  supv::SetRestartTries packet(spParams);
  ReturnValue_t result = packet.buildPacket(restartTries);
  if (result != returnvalue::OK) {
    return result;
  }
  sendCommand(packet);
  return returnvalue::OK;
}

ReturnValue_t FreshSupvHandler::prepareDisableHk() {
  supv::DisablePeriodicHkTransmission packet(spParams);
  ReturnValue_t result = packet.buildPacket();
  if (result != returnvalue::OK) {
    return result;
  }
  sendCommand(packet);
  return returnvalue::OK;
}

ReturnValue_t FreshSupvHandler::prepareLatchupConfigCmd(const uint8_t* commandData,
                                                        DeviceCommandId_t deviceCommand,
                                                        size_t cmdDataLen) {
  ReturnValue_t result = returnvalue::OK;
  if (cmdDataLen < 1) {
    return HasActionsIF::INVALID_PARAMETERS;
  }
  uint8_t latchupId = *commandData;
  if (latchupId > 6) {
    return result::INVALID_LATCHUP_ID;
  }
  switch (deviceCommand) {
    case (supv::ENABLE_LATCHUP_ALERT): {
      supv::LatchupAlert packet(spParams);
      result = packet.buildPacket(true, latchupId);
      if (result != returnvalue::OK) {
        return result;
      }
      sendCommand(packet);
      break;
    }
    case (supv::DISABLE_LATCHUP_ALERT): {
      supv::LatchupAlert packet(spParams);
      result = packet.buildPacket(false, latchupId);
      if (result != returnvalue::OK) {
        return result;
      }
      sendCommand(packet);
      break;
    }
    default: {
      sif::debug << "PlocSupervisorHandler::prepareLatchupConfigCmd: Invalid command id"
                 << std::endl;
      result = returnvalue::FAILED;
      break;
    }
  }
  return result;
}

ReturnValue_t FreshSupvHandler::prepareSetAlertLimitCmd(const uint8_t* commandData,
                                                        size_t cmdDataLen) {
  if (cmdDataLen < 5) {
    return HasActionsIF::INVALID_PARAMETERS;
  }
  uint8_t offset = 0;
  uint8_t latchupId = *commandData;
  offset += 1;
  uint32_t dutycycle = *(commandData + offset) << 24 | *(commandData + offset + 1) << 16 |
                       *(commandData + offset + 2) << 8 | *(commandData + offset + 3);
  if (latchupId > 6) {
    return result::INVALID_LATCHUP_ID;
  }
  supv::SetAlertlimit packet(spParams);
  ReturnValue_t result = packet.buildPacket(latchupId, dutycycle);
  if (result != returnvalue::OK) {
    return result;
  }
  sendCommand(packet);
  return returnvalue::OK;
}

ReturnValue_t FreshSupvHandler::prepareSetShutdownTimeoutCmd(const uint8_t* commandData,
                                                             size_t cmdDataLen) {
  if (cmdDataLen < 4) {
    return HasActionsIF::INVALID_PARAMETERS;
  }
  uint32_t timeout = 0;
  ReturnValue_t result = returnvalue::OK;
  size_t size = sizeof(timeout);
  result =
      SerializeAdapter::deSerialize(&timeout, &commandData, &size, SerializeIF::Endianness::BIG);
  if (result != returnvalue::OK) {
    sif::warning
        << "PlocSupervisorHandler::prepareSetShutdownTimeoutCmd: Failed to deserialize timeout"
        << std::endl;
    return result;
  }
  supv::SetShutdownTimeout packet(spParams);
  result = packet.buildPacket(timeout);
  if (result != returnvalue::OK) {
    return result;
  }
  sendCommand(packet);
  return returnvalue::OK;
}

ReturnValue_t FreshSupvHandler::prepareSetGpioCmd(const uint8_t* commandData,
                                                  size_t commandDataLen) {
  if (commandDataLen < 3) {
    return HasActionsIF::INVALID_PARAMETERS;
  }
  uint8_t port = *commandData;
  uint8_t pin = *(commandData + 1);
  uint8_t val = *(commandData + 2);
  supv::SetGpio packet(spParams);
  ReturnValue_t result = packet.buildPacket(port, pin, val);
  if (result != returnvalue::OK) {
    return result;
  }
  sendCommand(packet);
  return returnvalue::OK;
}

ReturnValue_t FreshSupvHandler::prepareReadGpioCmd(const uint8_t* commandData,
                                                   size_t commandDataLen) {
  if (commandDataLen < 2) {
    return HasActionsIF::INVALID_PARAMETERS;
  }
  uint8_t port = *commandData;
  uint8_t pin = *(commandData + 1);
  supv::ReadGpio packet(spParams);
  ReturnValue_t result = packet.buildPacket(port, pin);
  if (result != returnvalue::OK) {
    return result;
  }
  sendCommand(packet);
  return returnvalue::OK;
}

ReturnValue_t FreshSupvHandler::prepareFactoryResetCmd(const uint8_t* commandData, size_t len) {
  FactoryReset resetCmd(spParams);
  if (len < 1) {
    return HasActionsIF::INVALID_PARAMETERS;
  }
  ReturnValue_t result = resetCmd.buildPacket(commandData[0]);
  if (result != returnvalue::OK) {
    return result;
  }
  sendCommand(resetCmd);
  return returnvalue::OK;
}

ReturnValue_t FreshSupvHandler::prepareSetAdcEnabledChannelsCmd(const uint8_t* commandData) {
  uint16_t ch = *(commandData) << 8 | *(commandData + 1);
  supv::SetAdcEnabledChannels packet(spParams);
  ReturnValue_t result = packet.buildPacket(ch);
  if (result != returnvalue::OK) {
    return result;
  }
  sendCommand(packet);
  return returnvalue::OK;
}

ReturnValue_t FreshSupvHandler::prepareSetAdcWindowAndStrideCmd(const uint8_t* commandData) {
  uint8_t offset = 0;
  uint16_t windowSize = *(commandData + offset) << 8 | *(commandData + offset + 1);
  offset += 2;
  uint16_t stridingStepSize = *(commandData + offset) << 8 | *(commandData + offset + 1);
  supv::SetAdcWindowAndStride packet(spParams);
  ReturnValue_t result = packet.buildPacket(windowSize, stridingStepSize);
  if (result != returnvalue::OK) {
    return result;
  }
  sendCommand(packet);
  return returnvalue::OK;
}

ReturnValue_t FreshSupvHandler::prepareSetAdcThresholdCmd(const uint8_t* commandData) {
  uint32_t threshold = *(commandData) << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8 |
                       *(commandData + 3);
  supv::SetAdcThreshold packet(spParams);
  ReturnValue_t result = packet.buildPacket(threshold);
  if (result != returnvalue::OK) {
    return result;
  }
  sendCommand(packet);
  return returnvalue::OK;
}

ReturnValue_t FreshSupvHandler::prepareWipeMramCmd(const uint8_t* commandData, size_t cmdDataLen) {
  if (cmdDataLen < 8) {
    return HasActionsIF::INVALID_PARAMETERS;
  }
  uint32_t start = 0;
  uint32_t stop = 0;
  size_t size = sizeof(start) + sizeof(stop);
  SerializeAdapter::deSerialize(&start, &commandData, &size, SerializeIF::Endianness::BIG);
  SerializeAdapter::deSerialize(&stop, &commandData, &size, SerializeIF::Endianness::BIG);
  if ((stop - start) <= 0) {
    return result::INVALID_MRAM_ADDRESSES;
  }
  supv::MramCmd packet(spParams);
  ReturnValue_t result = packet.buildPacket(start, stop, supv::MramCmd::MramAction::WIPE);
  if (result != returnvalue::OK) {
    return result;
  }
  sendCommand(packet);
  return returnvalue::OK;
}

ReturnValue_t FreshSupvHandler::parseTmPackets() {
  uint8_t* receivedData = nullptr;
  size_t receivedSize = 0;
  ReturnValue_t result;
  while (true) {
    result = uartManager.readReceivedMessage(comCookie, &receivedData, &receivedSize);
    if (receivedSize == 0) {
      break;
    }
    tmReader.setData(receivedData, receivedSize);
    uint16_t apid = tmReader.getModuleApid();
    if (DEBUG_PLOC_SUPV) {
      handlePacketPrint();
    }
    switch (apid) {
      case (Apid::TMTC_MAN): {
        switch (tmReader.getServiceId()) {
          case (static_cast<uint8_t>(supv::tm::TmtcId::ACK)):
          case (static_cast<uint8_t>(supv::tm::TmtcId::NAK)): {
            // TODO: Handle ACK report.
            return OK;
          }
          case (static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)):
          case (static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)): {
            // TODO: Hnadle Exe report.
            return OK;
          }
        }
        break;
      }
      case (Apid::HK): {
        if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::HkId::REPORT)) {
          // TODO: Handle HK report.
          return OK;
        } else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::HkId::HARDFAULTS)) {
          handleBadApidServiceCombination(SUPV_UNINIMPLEMENTED_TM, apid, tmReader.getServiceId());
          return INVALID_DATA;
        }
        break;
      }
      case (Apid::BOOT_MAN): {
        if (tmReader.getServiceId() ==
            static_cast<uint8_t>(supv::tm::BootManId::BOOT_STATUS_REPORT)) {
          // TODO: Handle boot status report.
          continue;
        }
        break;
      }
      case (Apid::ADC_MON): {
        if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::AdcMonId::ADC_REPORT)) {
          // TODO: Handle ADC report.
          continue;
        }
        break;
      }
      case (Apid::MEM_MAN): {
        if (tmReader.getServiceId() ==
            static_cast<uint8_t>(supv::tm::MemManId::UPDATE_STATUS_REPORT)) {
          // TODO: Handle update status report.
          continue;
        }
        break;
      }
      case (Apid::DATA_LOGGER): {
        if (tmReader.getServiceId() ==
            static_cast<uint8_t>(supv::tm::DataLoggerId::COUNTERS_REPORT)) {
          // TODO: Handle counters report.
          continue;
        }
      }
    }
    handleBadApidServiceCombination(SUPV_UNKNOWN_TM, apid, tmReader.getServiceId());
  }
  return returnvalue::OK;
}

void FreshSupvHandler::handleBadApidServiceCombination(Event event, unsigned int apid,
                                                       unsigned int serviceId) {
  const char* printString = "";
  if (event == SUPV_UNKNOWN_TM) {
    printString = "PlocSupervisorHandler: Unknown";
  } else if (event == SUPV_UNINIMPLEMENTED_TM) {
    printString = "PlocSupervisorHandler: Unimplemented";
  }
  triggerEvent(event, apid, tmReader.getServiceId());
  sif::warning << printString << " APID service combination 0x" << std::setw(2) << std::setfill('0')
               << std::hex << apid << ", 0x" << std::setw(2) << serviceId << std::endl;
}

void FreshSupvHandler::handlePacketPrint() {
  if (tmReader.getModuleApid() == Apid::TMTC_MAN) {
    if ((tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::ACK)) or
        (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::NAK))) {
      AcknowledgmentReport ack(tmReader);
      ReturnValue_t result = ack.parse();
      if (result != returnvalue::OK) {
        sif::warning << "PlocSupervisorHandler: Parsing ACK failed" << std::endl;
      }
      if (REDUCE_NORMAL_MODE_PRINTOUT and ack.getRefModuleApid() == (uint8_t)supv::Apid::HK and
          ack.getRefServiceId() == (uint8_t)supv::tc::HkId::GET_REPORT) {
        return;
      }
      const char* printStr = "???";
      if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::ACK)) {
        printStr = "ACK";

      } else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::NAK)) {
        printStr = "NAK";
      }
      sif::debug << "PlocSupervisorHandler: RECV " << printStr << " for APID Module ID "
                 << (int)ack.getRefModuleApid() << " Service ID " << (int)ack.getRefServiceId()
                 << " Seq Count " << ack.getRefSequenceCount() << std::endl;
      return;
    } else if ((tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)) or
               (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK))) {
      ExecutionReport exe(tmReader);
      ReturnValue_t result = exe.parse();
      if (result != returnvalue::OK) {
        sif::warning << "PlocSupervisorHandler: Parsing EXE failed" << std::endl;
      }
      const char* printStr = "???";
      if (REDUCE_NORMAL_MODE_PRINTOUT and exe.getRefModuleApid() == (uint8_t)supv::Apid::HK and
          exe.getRefServiceId() == (uint8_t)supv::tc::HkId::GET_REPORT) {
        return;
      }
      if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_ACK)) {
        printStr = "ACK EXE";

      } else if (tmReader.getServiceId() == static_cast<uint8_t>(supv::tm::TmtcId::EXEC_NAK)) {
        printStr = "NAK EXE";
      }
      sif::debug << "PlocSupervisorHandler: RECV " << printStr << " for APID Module ID "
                 << (int)exe.getRefModuleApid() << " Service ID " << (int)exe.getRefServiceId()
                 << " Seq Count " << exe.getRefSequenceCount() << std::endl;
      return;
    }
  }
  sif::debug << "PlocSupervisorHandler: RECV PACKET Size " << tmReader.getFullPacketLen()
             << " Module APID " << (int)tmReader.getModuleApid() << " Service ID "
             << (int)tmReader.getServiceId() << std::endl;
}

bool FreshSupvHandler::isCommandAlreadyActive(ActionId_t actionId) const {
  auto iter = activeActionCmds.find(actionId);
  if (iter == activeActionCmds.end()) {
    return false;
  }
  if (iter->second.isPending) {
    return true;
  }
  return false;
}

ReturnValue_t FreshSupvHandler::extractUpdateCommand(const uint8_t* commandData, size_t size,
                                                     supv::UpdateParams& params) {
  size_t remSize = size;
  if (size > (config::MAX_FILENAME_SIZE + config::MAX_PATH_SIZE + sizeof(params.memId)) +
                 sizeof(params.startAddr) + sizeof(params.bytesWritten) + sizeof(params.seqCount) +
                 sizeof(uint8_t)) {
    sif::warning << "PlocSupervisorHandler::extractUpdateCommand: Data size too big" << std::endl;
    return result::INVALID_LENGTH;
  }
  ReturnValue_t result = returnvalue::OK;
  result = extractBaseParams(&commandData, size, params);
  result = SerializeAdapter::deSerialize(&params.bytesWritten, &commandData, &remSize,
                                         SerializeIF::Endianness::BIG);
  if (result != returnvalue::OK) {
    sif::warning << "PlocSupervisorHandler::extractUpdateCommand: Failed to deserialize bytes "
                    "already written"
                 << std::endl;
    return result;
  }
  result = SerializeAdapter::deSerialize(&params.seqCount, &commandData, &remSize,
                                         SerializeIF::Endianness::BIG);
  if (result != returnvalue::OK) {
    sif::warning
        << "PlocSupervisorHandler::extractUpdateCommand: Failed to deserialize start sequence count"
        << std::endl;
    return result;
  }
  uint8_t delMemRaw = 0;
  result = SerializeAdapter::deSerialize(&delMemRaw, &commandData, &remSize,
                                         SerializeIF::Endianness::BIG);
  if (result != returnvalue::OK) {
    sif::warning
        << "PlocSupervisorHandler::extractUpdateCommand: Failed to deserialize whether to delete "
           "memory"
        << std::endl;
    return result;
  }
  params.deleteMemory = delMemRaw;
  return returnvalue::OK;
}

ReturnValue_t FreshSupvHandler::extractBaseParams(const uint8_t** commandData, size_t& remSize,
                                                  supv::UpdateParams& params) {
  bool nullTermFound = false;
  for (size_t idx = 0; idx < remSize; idx++) {
    if ((*commandData)[idx] == '\0') {
      nullTermFound = true;
      break;
    }
  }
  if (not nullTermFound) {
    return returnvalue::FAILED;
  }
  params.file = std::string(reinterpret_cast<const char*>(*commandData));
  if (params.file.size() > (config::MAX_FILENAME_SIZE + config::MAX_PATH_SIZE)) {
    sif::warning << "PlocSupervisorHandler::extractUpdateCommand: Filename too long" << std::endl;
    return result::FILENAME_TOO_LONG;
  }
  *commandData += params.file.size() + SIZE_NULL_TERMINATOR;
  remSize -= (params.file.size() + SIZE_NULL_TERMINATOR);
  params.memId = **commandData;
  *commandData += 1;
  remSize -= 1;
  ReturnValue_t result = SerializeAdapter::deSerialize(&params.startAddr, commandData, &remSize,
                                                       SerializeIF::Endianness::BIG);
  if (result != returnvalue::OK) {
    sif::warning << "PlocSupervisorHandler::extractBaseParams: Failed to deserialize start address"
                 << std::endl;
    return result;
  }
  return result;
}

void FreshSupvHandler::handleEvent(EventMessage* eventMessage) {
  ReturnValue_t result = returnvalue::OK;
  object_id_t objectId = eventMessage->getReporter();
  Event event = eventMessage->getEvent();
  switch (objectId) {
    case objects::PLOC_SUPERVISOR_HELPER: {
      // After execution of update procedure, PLOC is in a state where it draws approx. 700 mA of
      // current. To leave this state the shutdown MPSoC command must be sent here.
      if (event == PlocSupvUartManager::SUPV_UPDATE_FAILED ||
          event == PlocSupvUartManager::SUPV_UPDATE_SUCCESSFUL ||
          event == PlocSupvUartManager::SUPV_CONTINUE_UPDATE_FAILED ||
          event == PlocSupvUartManager::SUPV_CONTINUE_UPDATE_SUCCESSFUL ||
          event == PlocSupvUartManager::SUPV_MEM_CHECK_FAIL ||
          event == PlocSupvUartManager::SUPV_MEM_CHECK_OK) {
        // Wait for a short period for the uart state machine to adjust
        // TaskFactory::delayTask(5);
        if (not isCommandAlreadyActive(supv::SHUTDOWN_MPSOC)) {
          result = this->executeAction(supv::SHUTDOWN_MPSOC, MessageQueueIF::NO_QUEUE, nullptr, 0);
          if (result != returnvalue::OK) {
            triggerEvent(supv::SUPV_MPSOC_SHUTDOWN_BUILD_FAILED);
            sif::warning << "PlocSupervisorHandler::handleEvent: Failed to build MPSoC shutdown "
                            "command"
                         << std::endl;
            return;
          }
        }
      }
      break;
    }
    default:
      sif::debug << "PlocMPSoCHandler::handleEvent: Did not subscribe to this event" << std::endl;
      break;
  }
}

ReturnValue_t FreshSupvHandler::eventSubscription() {
  ReturnValue_t result = returnvalue::OK;
  EventManagerIF* manager = ObjectManager::instance()->get<EventManagerIF>(objects::EVENT_MANAGER);
  if (manager == nullptr) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::error << "PlocSupervisorHandler::eventSubscritpion: Invalid event manager" << std::endl;
#endif
    return ObjectManagerIF::CHILD_INIT_FAILED;
    ;
  }
  result = manager->registerListener(eventQueue->getId());
  if (result != returnvalue::OK) {
    return result;
  }
  result = manager->subscribeToEventRange(
      eventQueue->getId(), event::getEventId(PlocSupvUartManager::SUPV_UPDATE_FAILED),
      event::getEventId(PlocSupvUartManager::SUPV_MEM_CHECK_FAIL));
  if (result != returnvalue::OK) {
#if FSFW_CPP_OSTREAM_ENABLED == 1
    sif::warning << "PlocSupervisorHandler::eventSubscritpion: Failed to subscribe to events from "
                    " ploc supervisor helper"
                 << std::endl;
#endif
    return ObjectManagerIF::CHILD_INIT_FAILED;
  }
  return result;
}