/** Functions and tasks related to TeleCommand handling.
 *
 * @file
 * @author P. LEROY
 *
 * A group of functions to handle TeleCommands:\n
 * action launching\n
 * TC parsing\n
 * ...
 *
 */

#include "tc_handler.h"

//***********
// RTEMS TASK

rtems_task actn_task( rtems_task_argument unused )
{
    /** This RTEMS task is responsible for launching actions upton the reception of valid TeleCommands.
     *
     * @param unused is the starting argument of the RTEMS task
     *
     * The ACTN task waits for data coming from an RTEMS msesage queue. When data arrives, it launches specific actions depending
     * on the incoming TeleCommand.
     *
     */

    int result;
    rtems_status_code status;       // RTEMS status code
    ccsdsTelecommandPacket_t TC;    // TC sent to the ACTN task
    size_t size;                    // size of the incoming TC packet
    unsigned char subtype;          // subtype of the current TC packet
    unsigned char time[6];
    rtems_id queue_rcv_id;
    rtems_id queue_snd_id;

    status =  get_message_queue_id_recv( &queue_rcv_id );
    if (status != RTEMS_SUCCESSFUL)
    {
        PRINTF1("in ACTN *** ERR get_message_queue_id_recv %d\n", status)
    }

    status =  get_message_queue_id_send( &queue_snd_id );
    if (status != RTEMS_SUCCESSFUL)
    {
        PRINTF1("in ACTN *** ERR get_message_queue_id_send %d\n", status)
    }

    result = LFR_SUCCESSFUL;
    subtype = 0;          // subtype of the current TC packet

    BOOT_PRINTF("in ACTN *** \n")

    while(1)
    {
        status = rtems_message_queue_receive( queue_rcv_id, (char*) &TC, &size,
                                             RTEMS_WAIT, RTEMS_NO_TIMEOUT);
        getTime( time );    // set time to the current time
        if (status!=RTEMS_SUCCESSFUL)
        {
            PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status)
        }
        else
        {
            subtype = TC.serviceSubType;
            switch(subtype)
            {
                case TC_SUBTYPE_RESET:
                    result = action_reset( &TC, queue_snd_id, time );
                    close_action( &TC, result, queue_snd_id, time );
                    break;
                    //
                case TC_SUBTYPE_LOAD_COMM:
                    result = action_load_common_par( &TC );
                    close_action( &TC, result, queue_snd_id, time );
                    break;
                    //
                case TC_SUBTYPE_LOAD_NORM:
                    result = action_load_normal_par( &TC, queue_snd_id, time );
                    close_action( &TC, result, queue_snd_id, time );
                    break;
                    //
                case TC_SUBTYPE_LOAD_BURST:
                    result = action_load_burst_par( &TC, queue_snd_id, time );
                    close_action( &TC, result, queue_snd_id, time );
                    break;
                    //
                case TC_SUBTYPE_LOAD_SBM1:
                    result = action_load_sbm1_par( &TC, queue_snd_id, time );
                    close_action( &TC, result, queue_snd_id, time );
                    break;
                    //
                case TC_SUBTYPE_LOAD_SBM2:
                    result = action_load_sbm2_par( &TC, queue_snd_id, time );
                    close_action( &TC, result, queue_snd_id, time );
                    break;
                    //
                case TC_SUBTYPE_DUMP:
                    result = action_dump_par( queue_snd_id );
                    close_action( &TC, result, queue_snd_id, time );
                    break;
                    //
                case TC_SUBTYPE_ENTER:
                    result = action_enter_mode( &TC, queue_snd_id, time );
                    close_action( &TC, result, queue_snd_id, time );
                    break;
                    //
                case TC_SUBTYPE_UPDT_INFO:
                    result = action_update_info( &TC, queue_snd_id );
                    close_action( &TC, result, queue_snd_id, time );
                    break;
                    //
                case TC_SUBTYPE_EN_CAL:
                    result = action_enable_calibration( &TC, queue_snd_id, time );
                    close_action( &TC, result, queue_snd_id, time );
                    break;
                    //
                case TC_SUBTYPE_DIS_CAL:
                    result = action_disable_calibration( &TC, queue_snd_id, time );
                    close_action( &TC, result, queue_snd_id, time );
                    break;
                    //
                case TC_SUBTYPE_UPDT_TIME:
                    result = action_update_time( &TC );
                    close_action( &TC, result, queue_snd_id, time );
                    break;
                    //
                default:
                    break;
            }
        }
    }
}

//***********
// TC ACTIONS

int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
{
    /** This function executes specific actions when a TC_LFR_RESET TeleCommand has been received.
     *
     * @param TC points to the TeleCommand packet that is being processed
     * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
     *
     */

    send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
    return LFR_DEFAULT;
}

int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
{
    /** This function executes specific actions when a TC_LFR_ENTER_MODE TeleCommand has been received.
     *
     * @param TC points to the TeleCommand packet that is being processed
     * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
     *
     */

    rtems_status_code status;
    unsigned char requestedMode;

    requestedMode = TC->dataAndCRC[1];

    if ( (requestedMode != LFR_MODE_STANDBY)
         && (requestedMode != LFR_MODE_NORMAL) && (requestedMode != LFR_MODE_BURST)
         && (requestedMode != LFR_MODE_SBM1) && (requestedMode != LFR_MODE_SBM2) )
    {
        status = RTEMS_UNSATISFIED;
        send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_CP_LFR_MODE, requestedMode, time );
    }
    else
    {
        printf("try to enter mode %d\n", requestedMode);

#ifdef PRINT_TASK_STATISTICS
        if (requestedMode != LFR_MODE_STANDBY)
        {
            rtems_cpu_usage_reset();
            maxCount = 0;
        }
#endif

        status = transition_validation(requestedMode);

        if ( status == LFR_SUCCESSFUL ) {
            if ( lfrCurrentMode != LFR_MODE_STANDBY)
            {
                status = stop_current_mode();
            }
            if (status != RTEMS_SUCCESSFUL)
            {
                PRINTF("ERR *** in action_enter *** stop_current_mode\n")
            }
            status = enter_mode( requestedMode );
        }
        else
        {
            PRINTF("ERR *** in action_enter *** transition rejected\n")
            send_tm_lfr_tc_exe_not_executable( TC, queue_id, time );
        }
    }

    return status;
}

int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
{
    /** This function executes specific actions when a TC_LFR_UPDATE_INFO TeleCommand has been received.
     *
     * @param TC points to the TeleCommand packet that is being processed
     * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
     *
     * @return LFR directive status code:
     * - LFR_DEFAULT
     * - LFR_SUCCESSFUL
     *
     */

    unsigned int val;
    int result;

    result = LFR_SUCCESSFUL;

    val = housekeeping_packet.hk_lfr_update_info_tc_cnt[0] * 256
            + housekeeping_packet.hk_lfr_update_info_tc_cnt[1];
    val++;
    housekeeping_packet.hk_lfr_update_info_tc_cnt[0] = (unsigned char) (val >> 8);
    housekeeping_packet.hk_lfr_update_info_tc_cnt[1] = (unsigned char) (val);

    return result;
}

int action_enable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
{
    /** This function executes specific actions when a TC_LFR_ENABLE_CALIBRATION TeleCommand has been received.
     *
     * @param TC points to the TeleCommand packet that is being processed
     * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
     *
     */

    int result;
    unsigned char lfrMode;

    result = LFR_DEFAULT;
    lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;

    if ( (lfrMode == LFR_MODE_STANDBY) || (lfrMode == LFR_MODE_BURST) || (lfrMode == LFR_MODE_SBM2) ) {
        send_tm_lfr_tc_exe_not_executable( TC, queue_id, time );
        result = LFR_DEFAULT;
    }
    else {
        send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
        result = LFR_DEFAULT;
    }
    return result;
}

int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
{
    /** This function executes specific actions when a TC_LFR_DISABLE_CALIBRATION TeleCommand has been received.
     *
     * @param TC points to the TeleCommand packet that is being processed
     * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
     *
     */

    int result;
    unsigned char lfrMode;

    result = LFR_DEFAULT;
    lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;

    if ( (lfrMode == LFR_MODE_STANDBY) || (lfrMode == LFR_MODE_BURST) || (lfrMode == LFR_MODE_SBM2) ) {
        send_tm_lfr_tc_exe_not_executable( TC, queue_id, time );
        result = LFR_DEFAULT;
    }
    else {
        send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
        result = LFR_DEFAULT;
    }
    return result;
}

int action_update_time(ccsdsTelecommandPacket_t *TC)
{
    /** This function executes specific actions when a TC_LFR_UPDATE_TIME TeleCommand has been received.
     *
     * @param TC points to the TeleCommand packet that is being processed
     * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
     *
     * @return LFR_SUCCESSFUL
     *
     */

    unsigned int val;

    time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
                                                + (TC->dataAndCRC[1] << 16)
                                                + (TC->dataAndCRC[2] << 8)
                                                + TC->dataAndCRC[3];
    val = housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * 256
            + housekeeping_packet.hk_lfr_update_time_tc_cnt[1];
    val++;
    housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> 8);
    housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val);
    time_management_regs->ctrl = time_management_regs->ctrl | 1;

    return LFR_SUCCESSFUL;
}

//*******************
// ENTERING THE MODES

int transition_validation(unsigned char requestedMode)
{
    /** This function checks the validity of the transition requested by the TC_LFR_ENTER_MODE.
     *
     * @param requestedMode is the mode requested by the TC_LFR_ENTER_MODE
     *
     * @return LFR directive status codes:
     * - LFR_SUCCESSFUL - the transition is authorized
     * - LFR_DEFAULT - the transition is not authorized
     *
     */

    int status;

    switch (requestedMode)
    {
    case LFR_MODE_STANDBY:
        if ( lfrCurrentMode == LFR_MODE_STANDBY ) {
            status = LFR_DEFAULT;
        }
        else
        {
            status = LFR_SUCCESSFUL;
        }
        break;
    case LFR_MODE_NORMAL:
        if ( lfrCurrentMode == LFR_MODE_NORMAL ) {
            status = LFR_DEFAULT;
        }
        else {
            status = LFR_SUCCESSFUL;
        }
        break;
    case LFR_MODE_BURST:
        if ( lfrCurrentMode == LFR_MODE_BURST ) {
            status = LFR_DEFAULT;
        }
        else {
            status = LFR_SUCCESSFUL;
        }
        break;
    case LFR_MODE_SBM1:
        if ( lfrCurrentMode == LFR_MODE_SBM1 ) {
            status = LFR_DEFAULT;
        }
        else {
            status = LFR_SUCCESSFUL;
        }
        break;
    case LFR_MODE_SBM2:
        if ( lfrCurrentMode == LFR_MODE_SBM2 ) {
            status = LFR_DEFAULT;
        }
        else {
            status = LFR_SUCCESSFUL;
        }
        break;
    default:
        status = LFR_DEFAULT;
        break;
    }

    return status;
}

int stop_current_mode()
{
    /** This function stops the current mode by masking interrupt lines and suspending science tasks.
     *
     * @return RTEMS directive status codes:
     * - RTEMS_SUCCESSFUL - task restarted successfully
     * - RTEMS_INVALID_ID - task id invalid
     * - RTEMS_ALREADY_SUSPENDED - task already suspended
     *
     */

    rtems_status_code status;

    status = RTEMS_SUCCESSFUL;

#ifdef GSA
    LEON_Mask_interrupt( IRQ_WF );                  // mask waveform interrupt (coming from the timer VHDL IP)
    LEON_Clear_interrupt( IRQ_WF );                  // clear waveform interrupt (coming from the timer VHDL IP)
    timer_stop( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR );
#else
    // mask interruptions
    LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );     // mask waveform picker interrupt
    LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );     // mask spectral matrix interrupt
    // reset registers
    reset_wfp_burst_enable();                       // reset burst and enable bits
    reset_wfp_status();                             // reset all the status bits
    // creal interruptions
    LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );    // clear waveform picker interrupt
    LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );    // clear spectarl matrix interrupt
#endif
    //**********************
    // suspend several tasks
    if (lfrCurrentMode != LFR_MODE_STANDBY) {
        status = suspend_science_tasks();
    }

    if (status != RTEMS_SUCCESSFUL)
    {
        PRINTF1("in stop_current_mode *** in suspend_science_tasks *** ERR code: %d\n", status)
    }

    return status;
}

int enter_mode(unsigned char mode )
{
    /** This function is launched after a mode transition validation.
     *
     * @param mode is the mode in which LFR will be put.
     *
     * @return RTEMS directive status codes:
     * - RTEMS_SUCCESSFUL - the mode has been entered successfully
     * - RTEMS_NOT_SATISFIED - the mode has not been entered successfully
     *
     */

    rtems_status_code status;

    status = RTEMS_UNSATISFIED;

    housekeeping_packet.lfr_status_word[0] = (unsigned char) ((mode << 4) + 0x0d);
    updateLFRCurrentMode();

    switch(mode){
    case LFR_MODE_STANDBY:
        status = enter_standby_mode( );
        break;
    case LFR_MODE_NORMAL:
        status = enter_normal_mode( );
        break;
    case LFR_MODE_BURST:
        status = enter_burst_mode( );
        break;
    case LFR_MODE_SBM1:
        status = enter_sbm1_mode( );
        break;
    case LFR_MODE_SBM2:
        status = enter_sbm2_mode( );
        break;
    default:
        status = RTEMS_UNSATISFIED;
    }

    if (status != RTEMS_SUCCESSFUL)
    {
        PRINTF("in enter_mode *** ERR\n")
        status = RTEMS_UNSATISFIED;
    }

    return status;
}

int enter_standby_mode()
{
    /** This function is used to enter the STANDBY mode.
     *
     * @return RTEMS directive status codes:
     * - RTEMS_SUCCESSFUL - the mode has been entered successfully
     *
     */

    PRINTF1("maxCount = %d\n", maxCount)

#ifdef PRINT_TASK_STATISTICS
    rtems_cpu_usage_report();
#endif

#ifdef PRINT_STACK_REPORT
    rtems_stack_checker_report_usage();
#endif

    return LFR_SUCCESSFUL;
}

int enter_normal_mode()
{
    rtems_status_code status;

    status = restart_science_tasks();

#ifdef GSA
    timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR );
    timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
    LEON_Clear_interrupt( IRQ_WF );
    LEON_Unmask_interrupt( IRQ_WF );
    //
    set_local_nb_interrupt_f0_MAX();
    LEON_Clear_interrupt( IRQ_SM ); // the IRQ_SM seems to be incompatible with the IRQ_WF on the xilinx board
    LEON_Unmask_interrupt( IRQ_SM );
#else
    //****************
    // waveform picker
    reset_waveform_picker_regs();
    set_wfp_burst_enable_register(LFR_MODE_NORMAL);
    LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
    LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
    //****************
    // spectral matrix
#endif

    return status;
}

int enter_burst_mode()
{
    /** This function is used to enter the STANDBY mode.
     *
     * @return RTEMS directive status codes:
     * - RTEMS_SUCCESSFUL - the mode has been entered successfully
     * - RTEMS_INVALID_ID - task id invalid
     * - RTEMS_INCORRECT_STATE - task never started
     * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
     *
     */

    rtems_status_code status;

    status = restart_science_tasks();

#ifdef GSA
    LEON_Unmask_interrupt( IRQ_SM );
#else
    reset_waveform_picker_regs();
    set_wfp_burst_enable_register(LFR_MODE_BURST);
    LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
    LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
#endif

    return status;
}

int enter_sbm1_mode()
{
    /** This function is used to enter the SBM1 mode.
     *
     * @return RTEMS directive status codes:
     * - RTEMS_SUCCESSFUL - the mode has been entered successfully
     * - RTEMS_INVALID_ID - task id invalid
     * - RTEMS_INCORRECT_STATE - task never started
     * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
     *
     */

    rtems_status_code status;

    status = restart_science_tasks();

    set_local_sbm1_nb_cwf_max();

    reset_local_sbm1_nb_cwf_sent();

#ifdef GSA
    LEON_Unmask_interrupt( IRQ_SM );
#else
    reset_waveform_picker_regs();
    set_wfp_burst_enable_register(LFR_MODE_SBM1);
    LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
    LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
 #endif

    return status;
}

int enter_sbm2_mode()
{
    /** This function is used to enter the SBM2 mode.
     *
     * @return RTEMS directive status codes:
     * - RTEMS_SUCCESSFUL - the mode has been entered successfully
     * - RTEMS_INVALID_ID - task id invalid
     * - RTEMS_INCORRECT_STATE - task never started
     * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
     *
     */

    rtems_status_code status;

    status = restart_science_tasks();

    set_local_sbm2_nb_cwf_max();

    reset_local_sbm2_nb_cwf_sent();

#ifdef GSA
    LEON_Unmask_interrupt( IRQ_SM );
#else
    reset_waveform_picker_regs();
    set_wfp_burst_enable_register(LFR_MODE_SBM2);
    LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
    LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
#endif

    return status;
}

int restart_science_tasks()
{
    /** This function is used to restart all science tasks.
     *
     * @return RTEMS directive status codes:
     * - RTEMS_SUCCESSFUL - task restarted successfully
     * - RTEMS_INVALID_ID - task id invalid
     * - RTEMS_INCORRECT_STATE - task never started
     * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
     *
     * Science tasks are AVF0, BPF0, WFRM, CWF3, CW2, CWF1
     *
     */

    rtems_status_code status[6];
    rtems_status_code ret;

    ret = RTEMS_SUCCESSFUL;

    status[0] = rtems_task_restart( Task_id[TASKID_AVF0], 1 );
    if (status[0] != RTEMS_SUCCESSFUL)
    {
        PRINTF1("in restart_science_task *** 0 ERR %d\n", status[0])
    }

    status[1] = rtems_task_restart( Task_id[TASKID_BPF0],1 );
    if (status[1] != RTEMS_SUCCESSFUL)
    {
        PRINTF1("in restart_science_task *** 1 ERR %d\n", status[1])
    }

    status[2] = rtems_task_restart( Task_id[TASKID_WFRM],1 );
    if (status[2] != RTEMS_SUCCESSFUL)
    {
        PRINTF1("in restart_science_task *** 2 ERR %d\n", status[2])
    }

    status[3] = rtems_task_restart( Task_id[TASKID_CWF3],1 );
    if (status[3] != RTEMS_SUCCESSFUL)
    {
        PRINTF1("in restart_science_task *** 3 ERR %d\n", status[3])
    }

    status[4] = rtems_task_restart( Task_id[TASKID_CWF2],1 );
    if (status[4] != RTEMS_SUCCESSFUL)
    {
        PRINTF1("in restart_science_task *** 4 ERR %d\n", status[4])
    }

    status[5] = rtems_task_restart( Task_id[TASKID_CWF1],1 );
    if (status[5] != RTEMS_SUCCESSFUL)
    {
        PRINTF1("in restart_science_task *** 5 ERR %d\n", status[5])
    }

    if ( (status[0] != RTEMS_SUCCESSFUL) || (status[1] != RTEMS_SUCCESSFUL) || (status[2] != RTEMS_SUCCESSFUL) ||
         (status[3] != RTEMS_SUCCESSFUL) || (status[4] != RTEMS_SUCCESSFUL) || (status[5] != RTEMS_SUCCESSFUL) )
    {
        ret = RTEMS_UNSATISFIED;
    }

    return ret;
}

int suspend_science_tasks()
{
    /** This function suspends the science tasks.
     *
     * @return RTEMS directive status codes:
     * - RTEMS_SUCCESSFUL - task restarted successfully
     * - RTEMS_INVALID_ID - task id invalid
     * - RTEMS_ALREADY_SUSPENDED - task already suspended
     *
     */

    rtems_status_code status;

    status = rtems_task_suspend( Task_id[TASKID_AVF0] );
    if (status != RTEMS_SUCCESSFUL)
    {
        PRINTF1("in suspend_science_task *** AVF0 ERR %d\n", status)
    }

    if (status == RTEMS_SUCCESSFUL)        // suspend BPF0
    {
        status = rtems_task_suspend( Task_id[TASKID_BPF0] );
        if (status != RTEMS_SUCCESSFUL)
        {
            PRINTF1("in suspend_science_task *** BPF0 ERR %d\n", status)
        }
    }

    if (status == RTEMS_SUCCESSFUL)        // suspend WFRM
    {
        status = rtems_task_suspend( Task_id[TASKID_WFRM] );
        if (status != RTEMS_SUCCESSFUL)
        {
            PRINTF1("in suspend_science_task *** WFRM ERR %d\n", status)
        }
    }

    if (status == RTEMS_SUCCESSFUL)        // suspend CWF3
    {
        status = rtems_task_suspend( Task_id[TASKID_CWF3] );
        if (status != RTEMS_SUCCESSFUL)
        {
            PRINTF1("in suspend_science_task *** CWF3 ERR %d\n", status)
        }
    }

    if (status == RTEMS_SUCCESSFUL)        // suspend CWF2
    {
        status = rtems_task_suspend( Task_id[TASKID_CWF2] );
        if (status != RTEMS_SUCCESSFUL)
        {
            PRINTF1("in suspend_science_task *** CWF2 ERR %d\n", status)
        }
    }

    if (status == RTEMS_SUCCESSFUL)        // suspend CWF1
    {
        status = rtems_task_suspend( Task_id[TASKID_CWF1] );
        if (status != RTEMS_SUCCESSFUL)
        {
            PRINTF1("in suspend_science_task *** CWF1 ERR %d\n", status)
        }
    }

    return status;
}

//****************
// CLOSING ACTIONS
void update_last_TC_exe(ccsdsTelecommandPacket_t *TC, unsigned char *time)
{
    /** This function is used to update the HK packets statistics after a successful TC execution.
     *
     * @param TC points to the TC being processed
     * @param time is the time used to date the TC execution
     *
     */

    housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0];
    housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1];
    housekeeping_packet.hk_lfr_last_exe_tc_type[0] = 0x00;
    housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType;
    housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00;
    housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType;
    housekeeping_packet.hk_lfr_last_exe_tc_time[0] = time[0];
    housekeeping_packet.hk_lfr_last_exe_tc_time[1] = time[1];
    housekeeping_packet.hk_lfr_last_exe_tc_time[2] = time[2];
    housekeeping_packet.hk_lfr_last_exe_tc_time[3] = time[3];
    housekeeping_packet.hk_lfr_last_exe_tc_time[4] = time[4];
    housekeeping_packet.hk_lfr_last_exe_tc_time[5] = time[5];
}

void update_last_TC_rej(ccsdsTelecommandPacket_t *TC, unsigned char *time)
{
    /** This function is used to update the HK packets statistics after a TC rejection.
     *
     * @param TC points to the TC being processed
     * @param time is the time used to date the TC rejection
     *
     */

    housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0];
    housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1];
    housekeeping_packet.hk_lfr_last_rej_tc_type[0] = 0x00;
    housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType;
    housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00;
    housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType;
    housekeeping_packet.hk_lfr_last_rej_tc_time[0] = time[0];
    housekeeping_packet.hk_lfr_last_rej_tc_time[1] = time[1];
    housekeeping_packet.hk_lfr_last_rej_tc_time[2] = time[2];
    housekeeping_packet.hk_lfr_last_rej_tc_time[3] = time[3];
    housekeeping_packet.hk_lfr_last_rej_tc_time[4] = time[4];
    housekeeping_packet.hk_lfr_last_rej_tc_time[5] = time[5];
}

void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id, unsigned char *time)
{
    /** This function is the last step of the TC execution workflow.
     *
     * @param TC points to the TC being processed
     * @param result is the result of the TC execution (LFR_SUCCESSFUL / LFR_DEFAULT)
     * @param queue_id is the id of the RTEMS message queue used to send TM packets
     * @param time is the time used to date the TC execution
     *
     */

    unsigned int val = 0;

    if (result == LFR_SUCCESSFUL)
    {
        if ( !( (TC->serviceType==TC_TYPE_TIME) && (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) )
             &&
             !( (TC->serviceType==TC_TYPE_GEN) && (TC->serviceSubType==TC_SUBTYPE_UPDT_INFO))
             )
        {
            send_tm_lfr_tc_exe_success( TC, queue_id, time );
        }
        update_last_TC_exe( TC, time );
        val = housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1];
        val++;
        housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] = (unsigned char) (val >> 8);
        housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1] = (unsigned char) (val);
    }
    else
    {
        update_last_TC_rej( TC, time );
        val = housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1];
        val++;
        housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] = (unsigned char) (val >> 8);
        housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1] = (unsigned char) (val);
    }
}

//***************************
// Interrupt Service Routines
rtems_isr commutation_isr1( rtems_vector_number vector )
{
    if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
        printf("In commutation_isr1 *** Error sending event to DUMB\n");
    }
}

rtems_isr commutation_isr2( rtems_vector_number vector )
{
    if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
        printf("In commutation_isr2 *** Error sending event to DUMB\n");
    }
}

//****************
// OTHER FUNCTIONS
void updateLFRCurrentMode()
{
    /** This function updates the value of the global variable lfrCurrentMode.
     *
     * lfrCurrentMode is a parameter used by several functions to know in which mode LFR is running.
     *
     */
    // update the local value of lfrCurrentMode with the value contained in the housekeeping_packet structure
    lfrCurrentMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
}