connect payload children to subsystem

mission/system/tree/payloadModeTree.cpp

@@ -12,14 +12,16 @@
 #include "util.h"
 
 namespace {
-void initOffSequence(Subsystem* ss, ModeListEntry& eh);
-void initPlMpsocStreamSequence(Subsystem* ss, ModeListEntry& eh);
-void initPlCamStreamSequence(Subsystem* ss, ModeListEntry& eh);
-void initPlSpvSequence(Subsystem* ss, ModeListEntry& eh);
-void initEarthObsvSequence(Subsystem* ss, ModeListEntry& eh);
-void initScexSequence(Subsystem* ss, ModeListEntry& eh);
+void initOffSequence(Subsystem& ss, ModeListEntry& eh);
+void initPlMpsocStreamSequence(Subsystem& ss, ModeListEntry& eh);
+void initPlCamStreamSequence(Subsystem& ss, ModeListEntry& eh);
+void initPlSpvSequence(Subsystem& ss, ModeListEntry& eh);
+void initEarthObsvSequence(Subsystem& ss, ModeListEntry& eh);
+void initScexSequence(Subsystem& ss, ModeListEntry& eh);
 }  // namespace
 
+Subsystem satsystem::pl::SUBSYSTEM = Subsystem(objects::PL_SUBSYSTEM, 12, 24);
+
 const auto check = subsystem::checkInsert;
 static const auto OFF = HasModesIF::MODE_OFF;
 static const auto ON = HasModesIF::MODE_ON;
@@ -75,19 +77,18 @@ auto PL_TABLE_SCEX_TRANS_0 =
 
 void satsystem::pl::init() {
   ModeListEntry entry;
-  Subsystem* plSubsystem = new Subsystem(objects::PL_SUBSYSTEM, 12, 24);
-  initOffSequence(plSubsystem, entry);
-  initPlMpsocStreamSequence(plSubsystem, entry);
-  initPlCamStreamSequence(plSubsystem, entry);
-  initPlSpvSequence(plSubsystem, entry);
-  initEarthObsvSequence(plSubsystem, entry);
-  initScexSequence(plSubsystem, entry);
-  plSubsystem->setInitialMode(OFF);
+  initOffSequence(SUBSYSTEM, entry);
+  initPlMpsocStreamSequence(SUBSYSTEM, entry);
+  initPlCamStreamSequence(SUBSYSTEM, entry);
+  initPlSpvSequence(SUBSYSTEM, entry);
+  initEarthObsvSequence(SUBSYSTEM, entry);
+  initScexSequence(SUBSYSTEM, entry);
+  SUBSYSTEM.setInitialMode(OFF);
 }
 
 namespace {
 
-void initOffSequence(Subsystem* ss, ModeListEntry& eh) {
+void initOffSequence(Subsystem& ss, ModeListEntry& eh) {
   std::string context = "satsystem::payload::buildOffSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
@@ -108,29 +109,29 @@ void initOffSequence(Subsystem* ss, ModeListEntry& eh) {
   };
 
   // Build OFF target. Is empty
-  check(ss->addTable(TableEntry(PL_TABLE_OFF_TGT.first, &PL_TABLE_OFF_TGT.second)), ctxc);
+  check(ss.addTable(TableEntry(PL_TABLE_OFF_TGT.first, &PL_TABLE_OFF_TGT.second)), ctxc);
 
   // Build OFF transition 0
   iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
   iht(objects::SCEX, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
   iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
   iht(objects::PLOC_MPSOC_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS_0.second);
-  check(ss->addTable(TableEntry(PL_TABLE_OFF_TRANS_0.first, &PL_TABLE_OFF_TRANS_0.second)), ctxc);
+  check(ss.addTable(TableEntry(PL_TABLE_OFF_TRANS_0.first, &PL_TABLE_OFF_TRANS_0.second)), ctxc);
 
   // Build OFF transition 1
   iht(objects::PLOC_SUPERVISOR_HANDLER, OFF, 0, PL_TABLE_OFF_TRANS_1.second);
-  check(ss->addTable(TableEntry(PL_TABLE_OFF_TRANS_1.first, &PL_TABLE_OFF_TRANS_1.second)), ctxc);
+  check(ss.addTable(TableEntry(PL_TABLE_OFF_TRANS_1.first, &PL_TABLE_OFF_TRANS_1.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_0.first, 0, false);
   ihs(PL_SEQUENCE_OFF.second, PL_TABLE_OFF_TRANS_1.first, 0, false);
-  check(ss->addSequence(
+  check(ss.addSequence(
             SequenceEntry(PL_SEQUENCE_OFF.first, &PL_SEQUENCE_OFF.second, PL_SEQUENCE_OFF.first)),
         ctxc);
 }
 
-void initPlMpsocStreamSequence(Subsystem* ss, ModeListEntry& eh) {
+void initPlMpsocStreamSequence(Subsystem& ss, ModeListEntry& eh) {
   std::string context = "satsystem::payload::initPlMpsocStreamSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
@@ -158,21 +159,20 @@ void initPlMpsocStreamSequence(Subsystem* ss, ModeListEntry& eh) {
   iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
   iht(objects::PLOC_MPSOC_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
   iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TGT.second);
-  check(
-      ss->addTable(TableEntry(PL_TABLE_MPSOC_STREAM_TGT.first, &PL_TABLE_MPSOC_STREAM_TGT.second)),
-      ctxc);
+  check(ss.addTable(TableEntry(PL_TABLE_MPSOC_STREAM_TGT.first, &PL_TABLE_MPSOC_STREAM_TGT.second)),
+        ctxc);
 
   // Build MPSoC stream transition 0
   iht(objects::CAM_SWITCHER, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
   iht(objects::SCEX, OFF, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
   iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TRANS_0.second);
-  check(ss->addTable(
+  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_MPSOC_HANDLER, NML, 0, PL_TABLE_MPSOC_STREAM_TRANS_1.second);
-  check(ss->addTable(
+  check(ss.addTable(
             TableEntry(PL_TABLE_MPSOC_STREAM_TRANS_1.first, &PL_TABLE_MPSOC_STREAM_TRANS_1.second)),
         ctxc);
 
@@ -180,12 +180,12 @@ void initPlMpsocStreamSequence(Subsystem* ss, ModeListEntry& eh) {
   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);
-  check(ss->addSequence(SequenceEntry(PL_SEQUENCE_MPSOC_STREAM.first,
-                                      &PL_SEQUENCE_MPSOC_STREAM.second, PL_SEQUENCE_OFF.first)),
+  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) {
+void initPlCamStreamSequence(Subsystem& ss, ModeListEntry& eh) {
   std::string context = "satsystem::payload::initPlCamStreamSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
@@ -209,7 +209,7 @@ void initPlCamStreamSequence(Subsystem* ss, ModeListEntry& eh) {
   // 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);
-  check(ss->addTable(TableEntry(PL_TABLE_CAM_STREAM_TGT.first, &PL_TABLE_CAM_STREAM_TGT.second)),
+  check(ss.addTable(TableEntry(PL_TABLE_CAM_STREAM_TGT.first, &PL_TABLE_CAM_STREAM_TGT.second)),
         ctxc);
 
   // Build CAM transition 0
@@ -217,13 +217,13 @@ void initPlCamStreamSequence(Subsystem* ss, ModeListEntry& eh) {
   iht(objects::PLOC_MPSOC_HANDLER, OFF, 0, PL_TABLE_CAM_STREAM_TRANS_0.second);
   iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_CAM_STREAM_TRANS_0.second);
   iht(objects::SCEX, OFF, 0, PL_TABLE_CAM_STREAM_TRANS_0.second);
-  check(ss->addTable(
+  check(ss.addTable(
             TableEntry(PL_TABLE_CAM_STREAM_TRANS_0.first, &PL_TABLE_CAM_STREAM_TRANS_0.second)),
         ctxc);
 
   // Build CAM transition 1
   iht(objects::PLOC_SUPERVISOR_HANDLER, OFF, 0, PL_TABLE_CAM_STREAM_TRANS_1.second);
-  check(ss->addTable(
+  check(ss.addTable(
             TableEntry(PL_TABLE_CAM_STREAM_TRANS_1.first, &PL_TABLE_CAM_STREAM_TRANS_1.second)),
         ctxc);
 
@@ -231,12 +231,12 @@ void initPlCamStreamSequence(Subsystem* ss, ModeListEntry& eh) {
   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);
-  check(ss->addSequence(SequenceEntry(PL_SEQUENCE_CAM_STREAM.first, &PL_SEQUENCE_CAM_STREAM.second,
-                                      PL_SEQUENCE_OFF.first)),
+  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) {
+void initPlSpvSequence(Subsystem& ss, ModeListEntry& eh) {
   std::string context = "satsystem::payload::initPlSupvSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
@@ -258,32 +258,32 @@ void initPlSpvSequence(Subsystem* ss, ModeListEntry& eh) {
 
   // Build Payload Supervisor Only target
   iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_SUPV_ONLY_TGT.second);
-  check(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_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_SUPV_ONLY_TRANS_0.second);
   iht(objects::CAM_SWITCHER, OFF, 0, 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);
+  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_MPSOC_HANDLER, OFF, 0, PL_TABLE_SUPV_ONLY_TRANS_1.second);
-  check(ss->addTable(
-            TableEntry(PL_TABLE_SUPV_ONLY_TRANS_1.first, &PL_TABLE_SUPV_ONLY_TRANS_1.second)),
-        ctxc);
+  check(
+      ss.addTable(TableEntry(PL_TABLE_SUPV_ONLY_TRANS_1.first, &PL_TABLE_SUPV_ONLY_TRANS_1.second)),
+      ctxc);
 
   // Build Payload Supervisor Only Sequence
   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);
-  check(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) {
+void initEarthObsvSequence(Subsystem& ss, ModeListEntry& eh) {
   std::string context = "satsystem::payload::initEarthObsvSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
@@ -308,32 +308,32 @@ void initEarthObsvSequence(Subsystem* ss, ModeListEntry& eh) {
   iht(objects::PLOC_SUPERVISOR_HANDLER, NML, 0, PL_TABLE_EARTH_OBSV_TGT.second);
   iht(objects::CAM_SWITCHER, ON, 0, PL_TABLE_EARTH_OBSV_TGT.second);
   iht(objects::PLPCDU_HANDLER, OFF, 0, PL_TABLE_EARTH_OBSV_TGT.second);
-  check(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_SUPERVISOR_HANDLER, NML, 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);
-  check(ss->addTable(
+  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_MPSOC_HANDLER, NML, 0, PL_TABLE_CAM_STREAM_TRANS_1.second);
-  check(ss->addTable(
+  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);
-  check(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) {
+void initScexSequence(Subsystem& ss, ModeListEntry& eh) {
   std::string context = "satsystem::payload::initScexSequence";
   auto ctxc = context.c_str();
   // Insert Helper Table
@@ -355,17 +355,16 @@ void initScexSequence(Subsystem* ss, ModeListEntry& eh) {
 
   // Build SCEX target
   iht(objects::SCEX, NML, 0, PL_TABLE_SCEX_TGT.second);
-  check(ss->addTable(TableEntry(PL_TABLE_EARTH_OBSV_TGT.first, &PL_TABLE_EARTH_OBSV_TGT.second)),
-        ctxc);
+  check(ss.addTable(TableEntry(PL_TABLE_SCEX_TGT.first, &PL_TABLE_SCEX_TGT.second)), ctxc);
 
   // Build SCEX transition 0
-  iht(objects::SCEX, NML, 0, PL_TABLE_SCEX_TGT.second);
-  check(ss->addTable(TableEntry(PL_TABLE_SCEX_TRANS_0.first, &PL_TABLE_SCEX_TRANS_0.second)), ctxc);
+  iht(objects::SCEX, NML, 0, 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);
-  check(ss->addSequence(
+  check(ss.addSequence(
             SequenceEntry(PL_SEQUENCE_SCEX.first, &PL_SEQUENCE_SCEX.second, PL_SEQUENCE_OFF.first)),
         ctxc);
 }

mission/system/tree/payloadModeTree.h

@@ -1,11 +1,16 @@
 #ifndef MISSION_SYSTEM_TREE_PAYLOADMODETREE_H_
 #define MISSION_SYSTEM_TREE_PAYLOADMODETREE_H_
 
+#include <fsfw/subsystem/Subsystem.h>
+
 namespace satsystem {
 
 namespace pl {
+
+extern Subsystem SUBSYSTEM;
+
 void init();
-}
+}  // namespace pl
 
 }  // namespace satsystem