added all checks, made checker func generic
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This commit is contained in:
@ -7,10 +7,10 @@
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#include <fsfw/subsystem/modes/ModeDefinitions.h>
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#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"
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#include "util.h"
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// Alias for checker function
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namespace {
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void checkInsert(ReturnValue_t result, const char* ctx);
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void buildOffSequence(Subsystem* ss, ModeListEntry& eh);
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void buildDetumbleSequence(Subsystem* ss, ModeListEntry& entryHelper);
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void buildSafeSequence(Subsystem* ss, ModeListEntry& entryHelper);
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@ -19,7 +19,7 @@ void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& entryHelper);
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void buildTargetPtSequence(Subsystem* ss, ModeListEntry& entryHelper);
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} // namespace
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const auto CHK = checkInsert;
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const auto check = subsystem::checkInsert;
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static const auto OFF = HasModesIF::MODE_OFF;
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static const auto NML = DeviceHandlerIF::MODE_NORMAL;
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@ -97,7 +97,7 @@ void buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
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eh.setObject(obj);
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eh.setMode(mode);
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eh.setSubmode(submode);
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CHK(table.insert(eh), ctxc);
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check(table.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
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@ -105,11 +105,11 @@ void buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
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eh.setTableId(tableId);
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eh.setWaitSeconds(waitSeconds);
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eh.setCheckSuccess(checkSuccess);
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CHK(sequence.insert(eh), ctxc);
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check(sequence.insert(eh), ctxc);
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};
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// OFF Target table is empty
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CHK(ss->addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc);
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check(ss->addTable(&ACS_TABLE_OFF_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc);
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// Build OFF transition
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iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
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@ -118,14 +118,14 @@ void buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
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iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
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iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
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iht(objects::RW_ASS, OFF, 0, ACS_TABLE_OFF_TRANS.second);
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CHK(ss->addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true), ctxc);
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check(ss->addTable(&ACS_TABLE_OFF_TRANS.second, ACS_TABLE_OFF_TRANS.first, false, true), ctxc);
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// Build OFF sequence
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ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TGT.first, 0, false);
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ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS.first, 0, false);
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CHK(ss->addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first,
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false, true),
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ctxc);
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check(ss->addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first,
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false, true),
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ctxc);
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}
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void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
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@ -137,7 +137,7 @@ void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
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eh.setObject(obj);
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eh.setMode(mode);
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eh.setSubmode(submode);
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CHK(sequence.insert(eh), ctxc);
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check(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
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@ -145,14 +145,14 @@ void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
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eh.setTableId(tableId);
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eh.setWaitSeconds(waitSeconds);
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eh.setCheckSuccess(checkSuccess);
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CHK(sequence.insert(eh), ctxc);
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check(sequence.insert(eh), ctxc);
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};
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// Build SAFE target
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
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CHK(ss->addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc);
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check(ss->addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_OFF_TGT.first, false, true), ctxc);
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// Build SAFE transition 0
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
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@ -160,21 +160,21 @@ void buildSafeSequence(Subsystem* ss, ModeListEntry& eh) {
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
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iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
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iht(objects::RW_ASS, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
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CHK(ss->addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
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ctxc);
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check(ss->addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
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ctxc);
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// Build SAFE transition 1
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::SAFE, 0, ACS_TABLE_SAFE_TRANS_1.second);
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CHK(ss->addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
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ctxc);
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check(ss->addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
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ctxc);
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// Build SAFE sequence
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ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true);
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ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false);
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ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false);
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CHK(ss->addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_OFF.first,
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false, true),
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ctxc);
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check(ss->addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_OFF.first,
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false, true),
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ctxc);
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}
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void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
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@ -186,7 +186,7 @@ void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
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eh.setObject(obj);
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eh.setMode(mode);
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eh.setSubmode(submode);
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CHK(sequence.insert(eh), ctxc);
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check(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
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@ -194,15 +194,15 @@ void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
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eh.setTableId(tableId);
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eh.setWaitSeconds(waitSeconds);
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eh.setCheckSuccess(checkSuccess);
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CHK(sequence.insert(eh), ctxc);
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check(sequence.insert(eh), ctxc);
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};
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// Build DETUMBLE target
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
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CHK(ss->addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true),
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ctxc);
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check(ss->addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true),
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ctxc);
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// Build DETUMBLE transition 0
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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@ -210,23 +210,23 @@ void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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iht(objects::RW_ASS, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
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CHK(ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false,
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true),
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ctxc);
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check(ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false,
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true),
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ctxc);
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// Build DETUMBLE transition 1
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::DETUMBLE, 0, ACS_TABLE_DETUMBLE_TRANS_1.second);
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CHK(ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
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true),
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ctxc);
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check(ss->addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
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true),
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ctxc);
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// Build DETUMBLE sequence
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ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true);
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ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false);
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ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false);
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CHK(ss->addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
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ACS_SEQUENCE_SAFE.first, false, true),
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ctxc);
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check(ss->addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
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ACS_SEQUENCE_SAFE.first, false, true),
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ctxc);
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}
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void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
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@ -238,7 +238,7 @@ void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
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eh.setObject(obj);
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eh.setMode(mode);
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eh.setSubmode(submode);
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CHK(sequence.insert(eh), ctxc);
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check(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
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@ -246,7 +246,7 @@ void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
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eh.setTableId(tableId);
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eh.setWaitSeconds(waitSeconds);
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eh.setCheckSuccess(checkSuccess);
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CHK(sequence.insert(eh), ctxc);
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check(sequence.insert(eh), ctxc);
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};
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// Build IDLE target
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TGT.second);
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@ -285,7 +285,7 @@ void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
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eh.setObject(obj);
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eh.setMode(mode);
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eh.setSubmode(submode);
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CHK(sequence.insert(eh), ctxc);
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check(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
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@ -293,7 +293,7 @@ void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
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eh.setTableId(tableId);
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eh.setWaitSeconds(waitSeconds);
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eh.setCheckSuccess(checkSuccess);
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CHK(sequence.insert(eh), ctxc);
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check(sequence.insert(eh), ctxc);
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};
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// Build IDLE target
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
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@ -301,8 +301,8 @@ void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TGT.second);
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CHK(ss->addTable(&ACS_TABLE_IDLE_CHRG_TGT.second, ACS_TABLE_IDLE_CHRG_TGT.first, false, true),
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ctxc);
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check(ss->addTable(&ACS_TABLE_IDLE_CHRG_TGT.second, ACS_TABLE_IDLE_CHRG_TGT.first, false, true),
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ctxc);
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// Build IDLE transition 0
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
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@ -310,24 +310,24 @@ void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
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iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
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iht(objects::RW_ASS, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
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iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
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CHK(ss->addTable(&ACS_TABLE_IDLE_CHRG_TRANS_0.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, false,
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true),
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ctxc);
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check(ss->addTable(&ACS_TABLE_IDLE_CHRG_TRANS_0.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, false,
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true),
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ctxc);
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// Build IDLE transition 1
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::IDLE, acs::IDLE_CHARGE,
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ACS_TABLE_IDLE_CHRG_TRANS_1.second);
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CHK(ss->addTable(&ACS_TABLE_IDLE_CHRG_TRANS_1.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, false,
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true),
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ctxc);
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check(ss->addTable(&ACS_TABLE_IDLE_CHRG_TRANS_1.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, false,
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true),
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ctxc);
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// Build IDLE sequence
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ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TGT.first, 0, true);
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ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_0.first, 0, true);
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ihs(ACS_SEQUENCE_IDLE_CHRG.second, ACS_TABLE_IDLE_CHRG_TRANS_1.first, 0, false);
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CHK(ss->addSequence(&ACS_SEQUENCE_IDLE_CHRG.second, ACS_SEQUENCE_IDLE_CHRG.first,
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ACS_SEQUENCE_SAFE.first, false, true),
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ctxc);
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check(ss->addSequence(&ACS_SEQUENCE_IDLE_CHRG.second, ACS_SEQUENCE_IDLE_CHRG.first,
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ACS_SEQUENCE_SAFE.first, false, true),
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ctxc);
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}
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void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
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@ -339,7 +339,7 @@ void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
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eh.setObject(obj);
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eh.setMode(mode);
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eh.setSubmode(submode);
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CHK(sequence.insert(eh), ctxc);
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check(sequence.insert(eh), ctxc);
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};
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// Insert Helper Sequence
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auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
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@ -347,7 +347,7 @@ void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
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eh.setTableId(tableId);
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eh.setWaitSeconds(waitSeconds);
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eh.setCheckSuccess(checkSuccess);
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CHK(sequence.insert(eh), ctxc);
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check(sequence.insert(eh), ctxc);
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};
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// Build TARGET PT table
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@ -357,8 +357,8 @@ void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
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iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
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iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
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CHK(ss->addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true),
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ctxc);
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check(ss->addTable(&ACS_TABLE_TARGET_PT_TGT.second, ACS_TABLE_TARGET_PT_TGT.first, false, true),
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ctxc);
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// Build TARGET PT transition 0
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iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
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@ -366,29 +366,23 @@ void buildTargetPtSequence(Subsystem* ss, ModeListEntry& eh) {
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iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
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iht(objects::RW_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
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iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
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CHK(ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false,
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true),
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ctxc);
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check(ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_0.second, ACS_TABLE_TARGET_PT_TRANS_0.first, false,
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true),
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ctxc);
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// Build TARGET PT transition 1
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iht(objects::ACS_CONTROLLER, acs::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TRANS_1.second);
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CHK(ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false,
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true),
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ctxc);
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check(ss->addTable(&ACS_TABLE_TARGET_PT_TRANS_1.second, ACS_TABLE_TARGET_PT_TRANS_1.first, false,
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true),
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ctxc);
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// Build IDLE sequence
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ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TGT.first, 0, true);
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ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_0.first, 0, true);
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ihs(ACS_SEQUENCE_TARGET_PT.second, ACS_TABLE_TARGET_PT_TRANS_1.first, 0, false);
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CHK(ss->addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first,
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ACS_SEQUENCE_IDLE.first, false, true),
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ctxc);
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}
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void checkInsert(ReturnValue_t result, const char* ctx) {
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if (result != HasReturnvaluesIF::RETURN_OK) {
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sif::warning << "Insertion failed at " << ctx << std::endl;
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}
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check(ss->addSequence(&ACS_SEQUENCE_TARGET_PT.second, ACS_SEQUENCE_TARGET_PT.first,
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ACS_SEQUENCE_IDLE.first, false, true),
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ctxc);
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}
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} // namespace
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