From 6efb2641a78eb5f5c11dac2088f941d85ae6b5ee Mon Sep 17 00:00:00 2001
From: "spahr@ksat-stuttgart.de" <spahr@ksat-stuttgart.de>
Date: Sun, 16 Feb 2025 17:07:40 +0100
Subject: [PATCH] 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

---
 src/fsfw/subsystem/SubsystemBase.cpp | 34 ++++++++++++++++++++--------
 1 file changed, 24 insertions(+), 10 deletions(-)

diff --git a/src/fsfw/subsystem/SubsystemBase.cpp b/src/fsfw/subsystem/SubsystemBase.cpp
index 4f62a889..87fcfebf 100644
--- a/src/fsfw/subsystem/SubsystemBase.cpp
+++ b/src/fsfw/subsystem/SubsystemBase.cpp
@@ -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);
-- 
2.43.0