diff --git a/mission/system/tree/CMakeLists.txt b/mission/system/tree/CMakeLists.txt index c5bddc3f..908f4b3d 100644 --- a/mission/system/tree/CMakeLists.txt +++ b/mission/system/tree/CMakeLists.txt @@ -2,4 +2,5 @@ target_sources(${LIB_EIVE_MISSION} PRIVATE acsModeTree.cpp payloadModeTree.cpp system.cpp + util.cpp ) diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp index 3fca1ce0..43ede7ae 100644 --- a/mission/system/tree/acsModeTree.cpp +++ b/mission/system/tree/acsModeTree.cpp @@ -7,10 +7,10 @@ #include #include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h" +#include "util.h" // Alias for checker function namespace { -void checkInsert(ReturnValue_t result, const char* ctx); void buildOffSequence(Subsystem* ss, ModeListEntry& eh); void buildDetumbleSequence(Subsystem* ss, ModeListEntry& entryHelper); void buildSafeSequence(Subsystem* ss, ModeListEntry& entryHelper); @@ -19,7 +19,7 @@ void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& entryHelper); void buildTargetPtSequence(Subsystem* ss, ModeListEntry& entryHelper); } // namespace -const auto CHK = checkInsert; +const auto check = subsystem::checkInsert; static const auto OFF = HasModesIF::MODE_OFF; static const auto NML = DeviceHandlerIF::MODE_NORMAL; @@ -97,7 +97,7 @@ void buildOffSequence(Subsystem* ss, ModeListEntry& eh) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); - CHK(table.insert(eh), ctxc); + check(table.insert(eh), ctxc); }; // Insert Helper Sequence auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, @@ -105,11 +105,11 @@ void buildOffSequence(Subsystem* ss, ModeListEntry& eh) { eh.setTableId(tableId); eh.setWaitSeconds(waitSeconds); eh.setCheckSuccess(checkSuccess); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // OFF Target table is empty - CHK(ss->addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc); + check(ss->addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc); // Build OFF transition iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS.second); @@ -118,14 +118,14 @@ void buildOffSequence(Subsystem* ss, ModeListEntry& eh) { iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second); iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second); iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second); - CHK(ss->addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true), ctxc); + check(ss->addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true), ctxc); // Build OFF sequence ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TGT.first, 0, false); ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS.first, 0, false); - CHK(ss->addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first, - false, true), - ctxc); + check(ss->addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first, + false, true), + ctxc); } void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) { @@ -137,7 +137,7 @@ void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, @@ -145,14 +145,14 @@ void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) { eh.setTableId(tableId); eh.setWaitSeconds(waitSeconds); eh.setCheckSuccess(checkSuccess); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Build SAFE target iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second); - CHK(ss->addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc); + check(ss->addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc); // Build SAFE transition 0 iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second); @@ -160,21 +160,21 @@ void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) { iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); iht(objects::RW_ASS, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second); - CHK(ss->addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true), - ctxc); + check(ss->addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true), + ctxc); // Build SAFE transition 1 iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second); - CHK(ss->addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true), - ctxc); + check(ss->addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true), + ctxc); // Build SAFE sequence ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true); ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false); ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false); - CHK(ss->addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_OFF.first, - false, true), - ctxc); + check(ss->addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_OFF.first, + false, true), + ctxc); } void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) { @@ -186,7 +186,7 @@ void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, @@ -194,15 +194,15 @@ void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) { eh.setTableId(tableId); eh.setWaitSeconds(waitSeconds); eh.setCheckSuccess(checkSuccess); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Build DETUMBLE target iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TGT.second); iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second); - CHK(ss->addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true), - ctxc); + check(ss->addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true), + ctxc); // Build DETUMBLE transition 0 iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); @@ -210,23 +210,23 @@ void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) { iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); iht(objects::RW_ASS, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second); - CHK(ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false, - true), - ctxc); + check(ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false, + true), + ctxc); // Build DETUMBLE transition 1 iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second); - CHK(ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false, - true), - ctxc); + check(ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false, + true), + ctxc); // Build DETUMBLE sequence ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true); ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false); ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false); - CHK(ss->addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first, - ACS_SEQUENCE_SAFE.first, false, true), - ctxc); + check(ss->addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first, + ACS_SEQUENCE_SAFE.first, false, true), + ctxc); } void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) { @@ -238,7 +238,7 @@ void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, @@ -246,7 +246,7 @@ void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) { eh.setTableId(tableId); eh.setWaitSeconds(waitSeconds); eh.setCheckSuccess(checkSuccess); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Build IDLE target iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TGT.second); @@ -285,7 +285,7 @@ void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, @@ -293,7 +293,7 @@ void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) { eh.setTableId(tableId); eh.setWaitSeconds(waitSeconds); eh.setCheckSuccess(checkSuccess); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Build IDLE target iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE, @@ -301,8 +301,8 @@ void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) { iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second); iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second); iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second); - CHK(ss->addTable(&ACS_TABLE_IDLE_CHRG_TGT.second, ACS_TABLE_IDLE_CHRG_TGT.first, false, true), - ctxc); + check(ss->addTable(&ACS_TABLE_IDLE_CHRG_TGT.second, ACS_TABLE_IDLE_CHRG_TGT.first, false, true), + ctxc); // Build IDLE transition 0 iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second); @@ -310,24 +310,24 @@ void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) { iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second); iht(objects::RW_ASS, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second); iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second); - CHK(ss->addTable(&ACS_TABLE_IDLE_CHRG_TRANS_0.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, false, - true), - ctxc); + check(ss->addTable(&ACS_TABLE_IDLE_CHRG_TRANS_0.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, false, + true), + ctxc); // Build IDLE transition 1 iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE, ACS_TABLE_IDLE_CHRG_TRANS_1.second); - CHK(ss->addTable(&ACS_TABLE_IDLE_CHRG_TRANS_1.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, false, - true), - ctxc); + check(ss->addTable(&ACS_TABLE_IDLE_CHRG_TRANS_1.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, false, + true), + ctxc); // Build IDLE sequence ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TGT.first, 0, true); ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, 0, false); - CHK(ss->addSequence(&ACS_SEQUENCE_IDLE_CHRG.second, ACS_SEQUENCE_IDLE_CHRG.first, - ACS_SEQUENCE_SAFE.first, false, true), - ctxc); + check(ss->addSequence(&ACS_SEQUENCE_IDLE_CHRG.second, ACS_SEQUENCE_IDLE_CHRG.first, + ACS_SEQUENCE_SAFE.first, false, true), + ctxc); } void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) { @@ -339,7 +339,7 @@ void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, @@ -347,7 +347,7 @@ void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) { eh.setTableId(tableId); eh.setWaitSeconds(waitSeconds); eh.setCheckSuccess(checkSuccess); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Build TARGET PT table @@ -357,8 +357,8 @@ void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) { iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second); iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second); - CHK(ss->addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true), - ctxc); + check(ss->addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true), + ctxc); // Build TARGET PT transition 0 iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second); @@ -366,29 +366,23 @@ void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) { iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second); iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second); iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second); - CHK(ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false, - true), - ctxc); + check(ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false, + true), + ctxc); // Build TARGET PT transition 1 iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TRANS_1.second); - CHK(ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false, - true), - ctxc); + check(ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false, + true), + ctxc); // Build IDLE sequence ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TGT.first, 0, true); ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_0.first, 0, true); ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_1.first, 0, false); - CHK(ss->addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first, - ACS_SEQUENCE_IDLE.first, false, true), - ctxc); -} - -void checkInsert(ReturnValue_t result, const char* ctx) { - if (result != HasReturnvaluesIF::RETURN_OK) { - sif::warning << "Insertion failed at " << ctx << std::endl; - } + check(ss->addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first, + ACS_SEQUENCE_IDLE.first, false, true), + ctxc); } } // namespace diff --git a/mission/system/tree/payloadModeTree.cpp b/mission/system/tree/payloadModeTree.cpp index ad65230f..d5779120 100644 --- a/mission/system/tree/payloadModeTree.cpp +++ b/mission/system/tree/payloadModeTree.cpp @@ -9,9 +9,9 @@ #include "mission/devices/devicedefinitions/payloadPcduDefinitions.h" #include "mission/system/objects/PayloadSubsystem.h" #include "mission/system/objects/definitions.h" +#include "util.h" namespace { -void checkInsert(ReturnValue_t result, const char* ctx); void initOffSequence(Subsystem* ss, ModeListEntry& eh); void initPlMpsocStreamSequence(Subsystem* ss, ModeListEntry& eh); void initPlCamStreamSequence(Subsystem* ss, ModeListEntry& eh); @@ -20,7 +20,7 @@ void initEarthObsvSequence(Subsystem* ss, ModeListEntry& eh); void initScexSequence(Subsystem* ss, ModeListEntry& eh); } // namespace -const auto CHK = checkInsert; +const auto check = subsystem::checkInsert; static const auto OFF = HasModesIF::MODE_OFF; static const auto ON = HasModesIF::MODE_ON; static const auto NML = DeviceHandlerIF::MODE_NORMAL; @@ -95,7 +95,7 @@ void initOffSequence(Subsystem* ss, ModeListEntry& eh) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, @@ -103,11 +103,11 @@ void initOffSequence(Subsystem* ss, ModeListEntry& eh) { eh.setTableId(tableId); eh.setWaitSeconds(waitSeconds); eh.setCheckSuccess(checkSuccess); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Build OFF target. Is empty - ss->addTable(&PL_TABLE_OFF_TGT.second, PL_TABLE_OFF_TGT.first, false, true); + check(ss->addTable(TableEntry(PL_TABLE_OFF_TGT.first, &PL_TABLE_OFF_TGT.second)), ctxc); // Build OFF transition 0 iht(objects::PLOC_SWITCHER, OFF, 0, PL_TABLE_OFF_TRANS.second); @@ -115,13 +115,14 @@ void initOffSequence(Subsystem* ss, ModeListEntry& eh) { iht(objects::SCEX_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS.second); iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS.second); iht(objects::PLOC_SUBSYSTEM, OFF, 0, PL_TABLE_OFF_TRANS.second); - ss->addTable(&PL_TABLE_OFF_TRANS.second, PL_TABLE_OFF_TRANS.first, false, true); + check(ss->addTable(TableEntry(PL_TABLE_OFF_TRANS.first, &PL_TABLE_OFF_TRANS.second)), ctxc); // Build OFF sequence ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TGT.first, 0, false); ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TRANS.first, 0, false); - ss->addSequence(&PL_SEQUENCE_OFF.second, PL_SEQUENCE_OFF.first, PL_SEQUENCE_OFF.first, false, - true); + check(ss->addSequence( + SequenceEntry(PL_SEQUENCE_OFF.first, &PL_SEQUENCE_OFF.second, PL_SEQUENCE_OFF.first)), + ctxc); } void initPlMpsocStreamSequence(Subsystem* ss, ModeListEntry& eh) { @@ -133,7 +134,7 @@ void initPlMpsocStreamSequence(Subsystem* ss, ModeListEntry& eh) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, @@ -141,7 +142,7 @@ void initPlMpsocStreamSequence(Subsystem* ss, ModeListEntry& eh) { eh.setTableId(tableId); eh.setWaitSeconds(waitSeconds); eh.setCheckSuccess(checkSuccess); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Build MPSoC stream target @@ -150,26 +151,31 @@ void initPlMpsocStreamSequence(Subsystem* ss, ModeListEntry& eh) { iht(objects::PLOC_SWITCHER, ON, 0, PL_TABLE_MPSOC_STREAM_TGT.second); iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_MPSOC_STREAM_TGT.second); iht(objects::PLOC_SUBSYSTEM, NML, payload::ploc::MPSOC_ON, PL_TABLE_MPSOC_STREAM_TGT.second); - ss->addTable(&PL_TABLE_MPSOC_STREAM_TGT.second, PL_TABLE_MPSOC_STREAM_TGT.first, false, true); + check( + ss->addTable(TableEntry(PL_TABLE_MPSOC_STREAM_TGT.first, &PL_TABLE_MPSOC_STREAM_TGT.second)), + ctxc); // Build MPSoC stream transition 0 iht(objects::PLOC_SWITCHER, ON, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second); iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second); iht(objects::SCEX_HANDLER, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second); - ss->addTable(&PL_TABLE_MPSOC_STREAM_TRANS_0.second, PL_TABLE_MPSOC_STREAM_TRANS_0.first, false, - true); + check(ss->addTable( + TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_0.first, &PL_TABLE_MPSOC_STREAM_TRANS_0.second)), + ctxc); // Build MPSoC stream transition 1 iht(objects::PLOC_SUBSYSTEM, NML, payload::ploc::MPSOC_ON, PL_TABLE_MPSOC_STREAM_TRANS_1.second); - ss->addTable(&PL_TABLE_MPSOC_STREAM_TRANS_1.second, PL_TABLE_MPSOC_STREAM_TRANS_1.first, false, - true); + check(ss->addTable( + TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_1.first, &PL_TABLE_MPSOC_STREAM_TRANS_1.second)), + ctxc); // Build MPSoC stream sequence ihs(PL_SEQUENCE_MPSOC_STREAM.second, PL_TABLE_MPSOC_STREAM_TGT.first, 0, true); ihs(PL_SEQUENCE_MPSOC_STREAM.second, PL_TABLE_MPSOC_STREAM_TRANS_0.first, 0, true); ihs(PL_SEQUENCE_MPSOC_STREAM.second, PL_TABLE_MPSOC_STREAM_TRANS_1.first, 0, false); - ss->addSequence(&PL_SEQUENCE_MPSOC_STREAM.second, PL_SEQUENCE_MPSOC_STREAM.first, - PL_SEQUENCE_OFF.first, false, true); + check(ss->addSequence(SequenceEntry(PL_SEQUENCE_MPSOC_STREAM.first, + &PL_SEQUENCE_MPSOC_STREAM.second, PL_SEQUENCE_OFF.first)), + ctxc); } void initPlCamStreamSequence(Subsystem* ss, ModeListEntry& eh) { @@ -181,7 +187,7 @@ void initPlCamStreamSequence(Subsystem* ss, ModeListEntry& eh) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, @@ -189,34 +195,38 @@ void initPlCamStreamSequence(Subsystem* ss, ModeListEntry& eh) { eh.setTableId(tableId); eh.setWaitSeconds(waitSeconds); eh.setCheckSuccess(checkSuccess); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Build CAM target // Only check that the PL PCDU is on for now. It might later become necessary to switch on // the PLOC, so we ignore its state. iht(objects::PLPCDU_HANDLER, NML, plpcdu::ALL_ON_SUBMODE, PL_TABLE_CAM_STREAM_TGT.second); - ss->addTable(&PL_TABLE_CAM_STREAM_TGT.second, PL_TABLE_CAM_STREAM_TGT.first, false, true); + check(ss->addTable(TableEntry(PL_TABLE_CAM_STREAM_TGT.first, &PL_TABLE_CAM_STREAM_TGT.second)), + ctxc); // Build CAM transition 0 // PLOC is actively commanded off here iht(objects::PLOC_SUBSYSTEM, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second); iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second); iht(objects::SCEX_HANDLER, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second); - ss->addTable(&PL_TABLE_MPSOC_STREAM_TRANS_0.second, PL_TABLE_MPSOC_STREAM_TRANS_0.first, false, - true); + check(ss->addTable( + TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_0.first, &PL_TABLE_MPSOC_STREAM_TRANS_0.second)), + ctxc); // Build CAM transition 1 iht(objects::PLOC_SWITCHER, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_1.second); - ss->addTable(&PL_TABLE_MPSOC_STREAM_TRANS_1.second, PL_TABLE_MPSOC_STREAM_TRANS_1.first, false, - true); + check(ss->addTable( + TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_1.first, &PL_TABLE_MPSOC_STREAM_TRANS_1.second)), + ctxc); // Build CAM stream sequence ihs(PL_SEQUENCE_CAM_STREAM.second, PL_TABLE_CAM_STREAM_TGT.first, 0, true); ihs(PL_SEQUENCE_CAM_STREAM.second, PL_TABLE_CAM_STREAM_TRANS_0.first, 0, true); ihs(PL_SEQUENCE_CAM_STREAM.second, PL_TABLE_CAM_STREAM_TRANS_1.first, 0, false); - ss->addSequence(&PL_SEQUENCE_CAM_STREAM.second, PL_SEQUENCE_CAM_STREAM.first, - PL_SEQUENCE_OFF.first, false, true); + check(ss->addSequence(SequenceEntry(PL_SEQUENCE_CAM_STREAM.first, &PL_SEQUENCE_CAM_STREAM.second, + PL_SEQUENCE_OFF.first)), + ctxc); } void initPlSpvSequence(Subsystem* ss, ModeListEntry& eh) { @@ -228,7 +238,7 @@ void initPlSpvSequence(Subsystem* ss, ModeListEntry& eh) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, @@ -236,18 +246,21 @@ void initPlSpvSequence(Subsystem* ss, ModeListEntry& eh) { eh.setTableId(tableId); eh.setWaitSeconds(waitSeconds); eh.setCheckSuccess(checkSuccess); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Build Payload Supervisor Only target iht(objects::PLOC_SWITCHER, ON, 0, PL_TABLE_SUPV_ONLY_TGT.second); iht(objects::PLOC_SUBSYSTEM, NML, payload::ploc::SUPV_ONLY, PL_TABLE_SUPV_ONLY_TGT.second); - ss->addTable(TableEntry(PL_TABLE_SUPV_ONLY_TGT.first, &PL_TABLE_SUPV_ONLY_TGT.second)); + check(ss->addTable(TableEntry(PL_TABLE_SUPV_ONLY_TGT.first, &PL_TABLE_SUPV_ONLY_TGT.second)), + ctxc); // Build Payload Supervisor Only transition 0 iht(objects::PLOC_SWITCHER, ON, 0, PL_TABLE_SUPV_ONLY_TRANS_0.second); iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_SUPV_ONLY_TRANS_0.second); - ss->addTable(TableEntry(PL_TABLE_SUPV_ONLY_TRANS_0.first, &PL_TABLE_SUPV_ONLY_TRANS_0.second)); + check(ss->addTable( + TableEntry(PL_TABLE_SUPV_ONLY_TRANS_0.first, &PL_TABLE_SUPV_ONLY_TRANS_0.second)), + ctxc); // Build Payload Supervisor Only transition 1 iht(objects::PLOC_SUBSYSTEM, NML, payload::ploc::SUPV_ONLY, PL_TABLE_SUPV_ONLY_TRANS_1.second); @@ -256,8 +269,9 @@ void initPlSpvSequence(Subsystem* ss, ModeListEntry& eh) { ihs(PL_SEQUENCE_SUPV_ONLY.second, PL_TABLE_SUPV_ONLY_TGT.first, 0, true); ihs(PL_SEQUENCE_SUPV_ONLY.second, PL_TABLE_SUPV_ONLY_TRANS_0.first, 0, true); ihs(PL_SEQUENCE_SUPV_ONLY.second, PL_TABLE_SUPV_ONLY_TRANS_1.first, 0, false); - ss->addSequence(SequenceEntry(PL_SEQUENCE_SUPV_ONLY.first, &PL_SEQUENCE_SUPV_ONLY.second, - PL_SEQUENCE_OFF.first)); + check(ss->addSequence(SequenceEntry(PL_SEQUENCE_SUPV_ONLY.first, &PL_SEQUENCE_SUPV_ONLY.second, + PL_SEQUENCE_OFF.first)), + ctxc); } void initEarthObsvSequence(Subsystem* ss, ModeListEntry& eh) { @@ -269,7 +283,7 @@ void initEarthObsvSequence(Subsystem* ss, ModeListEntry& eh) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, @@ -277,7 +291,7 @@ void initEarthObsvSequence(Subsystem* ss, ModeListEntry& eh) { eh.setTableId(tableId); eh.setWaitSeconds(waitSeconds); eh.setCheckSuccess(checkSuccess); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Build Earth Observation target @@ -285,23 +299,29 @@ void initEarthObsvSequence(Subsystem* ss, ModeListEntry& eh) { iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_EARTH_OBSV_TGT.second); iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_EARTH_OBSV_TGT.second); iht(objects::PLOC_SUBSYSTEM, NML, payload::ploc::MPSOC_ON, PL_TABLE_EARTH_OBSV_TGT.second); - ss->addTable(TableEntry(PL_TABLE_EARTH_OBSV_TGT.first, &PL_TABLE_EARTH_OBSV_TGT.second)); + check(ss->addTable(TableEntry(PL_TABLE_EARTH_OBSV_TGT.first, &PL_TABLE_EARTH_OBSV_TGT.second)), + ctxc); // Build Earth Observation transition 0 iht(objects::PLOC_SWITCHER, ON, 0, PL_TABLE_EARTH_OBSV_TRANS_0.second); iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_EARTH_OBSV_TRANS_0.second); iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_EARTH_OBSV_TRANS_0.second); - ss->addTable(TableEntry(PL_TABLE_EARTH_OBSV_TRANS_0.first, &PL_TABLE_EARTH_OBSV_TRANS_0.second)); + check(ss->addTable( + TableEntry(PL_TABLE_EARTH_OBSV_TRANS_0.first, &PL_TABLE_EARTH_OBSV_TRANS_0.second)), + ctxc); // Build Earth Observation transition 1 iht(objects::PLOC_SUBSYSTEM, NML, payload::ploc::MPSOC_ON, PL_TABLE_EARTH_OBSV_TRANS_1.second); - ss->addTable(TableEntry(PL_TABLE_EARTH_OBSV_TRANS_1.first, &PL_TABLE_EARTH_OBSV_TRANS_1.second)); + check(ss->addTable( + TableEntry(PL_TABLE_EARTH_OBSV_TRANS_1.first, &PL_TABLE_EARTH_OBSV_TRANS_1.second)), + ctxc); ihs(PL_SEQUENCE_EARTH_OBSV.second, PL_TABLE_EARTH_OBSV_TGT.first, 0, true); ihs(PL_SEQUENCE_EARTH_OBSV.second, PL_TABLE_EARTH_OBSV_TRANS_0.first, 0, true); ihs(PL_SEQUENCE_EARTH_OBSV.second, PL_TABLE_EARTH_OBSV_TRANS_1.first, 0, false); - ss->addSequence(SequenceEntry(PL_SEQUENCE_EARTH_OBSV.first, &PL_SEQUENCE_EARTH_OBSV.second, - PL_SEQUENCE_OFF.first)); + check(ss->addSequence(SequenceEntry(PL_SEQUENCE_EARTH_OBSV.first, &PL_SEQUENCE_EARTH_OBSV.second, + PL_SEQUENCE_OFF.first)), + ctxc); } void initScexSequence(Subsystem* ss, ModeListEntry& eh) { @@ -313,7 +333,7 @@ void initScexSequence(Subsystem* ss, ModeListEntry& eh) { eh.setObject(obj); eh.setMode(mode); eh.setSubmode(submode); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Insert Helper Sequence auto ihs = [&](ArrayList& sequence, Mode_t tableId, uint32_t waitSeconds, @@ -321,28 +341,24 @@ void initScexSequence(Subsystem* ss, ModeListEntry& eh) { eh.setTableId(tableId); eh.setWaitSeconds(waitSeconds); eh.setCheckSuccess(checkSuccess); - CHK(sequence.insert(eh), ctxc); + check(sequence.insert(eh), ctxc); }; // Build SCEX target iht(objects::SCEX_HANDLER, NML, 0, PL_TABLE_SCEX_TGT.second); - ss->addTable(TableEntry(PL_TABLE_EARTH_OBSV_TGT.first, &PL_TABLE_EARTH_OBSV_TGT.second)); + check(ss->addTable(TableEntry(PL_TABLE_EARTH_OBSV_TGT.first, &PL_TABLE_EARTH_OBSV_TGT.second)), + ctxc); // Build SCEX transition 0 iht(objects::SCEX_HANDLER, NML, 0, PL_TABLE_SCEX_TGT.second); - ss->addTable(TableEntry(PL_TABLE_SCEX_TRANS_0.first, &PL_TABLE_SCEX_TRANS_0.second)); + check(ss->addTable(TableEntry(PL_TABLE_SCEX_TRANS_0.first, &PL_TABLE_SCEX_TRANS_0.second)), ctxc); // Build SCEX sequence ihs(PL_SEQUENCE_SCEX.second, PL_TABLE_SCEX_TGT.first, 0, true); ihs(PL_SEQUENCE_SCEX.second, PL_TABLE_SCEX_TRANS_0.first, 0, false); - ss->addSequence( - SequenceEntry(PL_SEQUENCE_SCEX.first, &PL_SEQUENCE_SCEX.second, PL_SEQUENCE_OFF.first)); -} - -void checkInsert(ReturnValue_t result, const char* ctx) { - if (result != HasReturnvaluesIF::RETURN_OK) { - sif::warning << "satsystem::checkInsert: PL | Insertion failed at " << ctx << std::endl; - } + check(ss->addSequence( + SequenceEntry(PL_SEQUENCE_SCEX.first, &PL_SEQUENCE_SCEX.second, PL_SEQUENCE_OFF.first)), + ctxc); } } // namespace diff --git a/mission/system/tree/util.cpp b/mission/system/tree/util.cpp new file mode 100644 index 00000000..2a93efd8 --- /dev/null +++ b/mission/system/tree/util.cpp @@ -0,0 +1,9 @@ +#include "util.h" + +#include "fsfw/serviceinterface.h" + +void subsystem::checkInsert(ReturnValue_t result, const char* ctx) { + if (result != HasReturnvaluesIF::RETURN_OK) { + sif::warning << "satsystem::checkInsert: Insertion failed at " << ctx << std::endl; + } +} diff --git a/mission/system/tree/util.h b/mission/system/tree/util.h new file mode 100644 index 00000000..5caf8e6d --- /dev/null +++ b/mission/system/tree/util.h @@ -0,0 +1,12 @@ +#ifndef MISSION_SYSTEM_TREE_UTIL_H_ +#define MISSION_SYSTEM_TREE_UTIL_H_ + +#include + +namespace subsystem { + +void checkInsert(ReturnValue_t result, const char* ctx); + +} + +#endif /* MISSION_SYSTEM_TREE_UTIL_H_ */