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Re-write the logic in executeTable() to improve the readabilty of the code. This gets rid of the usage of isFaulty() (which is misleading), and removes nexted if-statements

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spahr@ksat-stuttgart.de 2025-02-16 17:07:40 +01:00
parent 735e341aab
commit 6efb2641a7
1 changed files with 24 additions and 10 deletions
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34
src/fsfw/subsystem/SubsystemBase.cpp
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@ -79,22 +79,36 @@ void SubsystemBase::executeTable(HybridIterator<ModeListEntry> tableIter, Submod
}
if (healthHelper.healthTable->hasHealth(object)) {
if (healthHelper.healthTable->isFaulty(object)) {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
SUBMODE_NONE);
} else {
if (modeHelper.isForced()) {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
tableIter.value->getMode(), submodeToCommand);
} else {
if (healthHelper.healthTable->isCommandable(object)) {
switch (healthHelper.healthTable->getHealth(object)) {
case NEEDS_RECOVERY:
case FAULTY:
case PERMANENT_FAULTY:
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND, HasModesIF::MODE_OFF,
SUBMODE_NONE);
break;
case HEALTHY:
if (modeHelper.isForced()) {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
tableIter.value->getMode(), submodeToCommand);
} else {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
tableIter.value->getMode(), submodeToCommand);
}
break;
case EXTERNAL_CONTROL:
if (modeHelper.isForced()) {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND_FORCED,
tableIter.value->getMode(), submodeToCommand);
} else {
continue;
}
}
break;
default:
// This never happens
break;
}
} else {
ModeMessage::setModeMessage(&command, ModeMessage::CMD_MODE_COMMAND,
tableIter.value->getMode(), submodeToCommand);