#include "acsModeTree.h"

#include <fsfw/container/FixedMap.h>
#include <fsfw/devicehandlers/DeviceHandlerIF.h>
#include <fsfw/modes/HasModesIF.h>
#include <fsfw/subsystem/Subsystem.h>
#include <fsfw/subsystem/modes/ModeDefinitions.h>

#include <optional>

#include "eive/objects.h"
#include "mission/acsDefs.h"
#include "mission/system/objects/definitions.h"
#include "util.h"

AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);

namespace {
// Alias for checker function
const auto check = subsystem::checkInsert;

void buildOffSequence(Subsystem& ss, ModeListEntry& eh);
void buildSafeSequence(Subsystem& ss, ModeListEntry& entryHelper);
void buildIdleSequence(Subsystem& ss, ModeListEntry& entryHelper);
void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh);
void buildTargetPtSequence(Subsystem& ss, ModeListEntry& entryHelper);
void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& entryHelper);
void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper);

}  // namespace

static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;

auto SUS_BOARD_NML_TRANS = std::make_pair(0x20, FixedArrayList<ModeListEntry, 1>());

auto ACS_SEQUENCE_OFF = std::make_pair(acs::AcsMode::OFF, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_OFF_TGT =
    std::make_pair((acs::AcsMode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
auto ACS_TABLE_OFF_TRANS_0 =
    std::make_pair((acs::AcsMode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
auto ACS_TABLE_OFF_TRANS_1 =
    std::make_pair((acs::AcsMode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());

auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_SAFE_TGT =
    std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_SAFE_TRANS_0 =
    std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_SAFE_TRANS_1 =
    std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 5>());

auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsMode::PTG_IDLE, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_IDLE_TGT =
    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_IDLE_TRANS_0 =
    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_IDLE_TRANS_1 =
    std::make_pair((acs::AcsMode::PTG_IDLE << 24) | 3, FixedArrayList<ModeListEntry, 3>());

auto ACS_TABLE_PTG_TRANS_0 =
    std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());

auto ACS_SEQUENCE_PTG_TARGET =
    std::make_pair(acs::AcsMode::PTG_TARGET, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_PTG_TARGET_TGT =
    std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_TRANS_1 =
    std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());

auto ACS_SEQUENCE_PTG_TARGET_GS =
    std::make_pair(acs::AcsMode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_PTG_TARGET_GS_TGT =
    std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
    std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());

auto ACS_SEQUENCE_PTG_TARGET_NADIR =
    std::make_pair(acs::AcsMode::PTG_NADIR, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_PTG_TARGET_NADIR_TGT =
    std::make_pair((acs::AcsMode::PTG_NADIR << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 =
    std::make_pair((acs::AcsMode::PTG_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());

auto ACS_SEQUENCE_PTG_TARGET_INERTIAL =
    std::make_pair(acs::AcsMode::PTG_INERTIAL, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT =
    std::make_pair((acs::AcsMode::PTG_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 =
    std::make_pair((acs::AcsMode::PTG_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());

Subsystem& satsystem::acs::init() {
  ModeListEntry entry;
  const char* ctxc = "satsystem::acs::init: generic target";
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
                 bool allowAllSubmodes = false) {
    entry.setObject(obj);
    entry.setMode(mode);
    entry.setSubmode(submode);
    if (allowAllSubmodes) {
      entry.allowAllSubmodes();
    }
    check(table.insert(entry), "satsystem::acs::init: generic target");
  };
  // Build TARGET PT transition 0
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
  iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
  check(ACS_SUBSYSTEM.addTable(
            TableEntry(ACS_TABLE_PTG_TRANS_0.first, &ACS_TABLE_PTG_TRANS_0.second)),
        ctxc);

  // Build SUS board transition
  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, SUS_BOARD_NML_TRANS.second, true);
  check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)),
        ctxc);

  buildOffSequence(ACS_SUBSYSTEM, entry);
  buildSafeSequence(ACS_SUBSYSTEM, entry);
  buildIdleSequence(ACS_SUBSYSTEM, entry);
  buildTargetPtSequence(ACS_SUBSYSTEM, entry);
  buildTargetPtGsSequence(ACS_SUBSYSTEM, entry);
  buildTargetPtNadirSequence(ACS_SUBSYSTEM, entry);
  buildTargetPtInertialSequence(ACS_SUBSYSTEM, entry);
  ACS_SUBSYSTEM.setInitialMode(::acs::AcsMode::SAFE);
  return ACS_SUBSYSTEM;
}

namespace {

void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::acs::buildOffSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    check(table.insert(eh), ctxc);
  };
  // Insert Helper Sequence
  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
                 bool checkSuccess) {
    eh.setTableId(tableId);
    eh.setWaitSeconds(waitSeconds);
    eh.setCheckSuccess(checkSuccess);
    check(sequence.insert(eh), ctxc);
  };

  // OFF Target table is empty
  check(ss.addTable(TableEntry(ACS_TABLE_OFF_TGT.first, &ACS_TABLE_OFF_TGT.second)), ctxc);

  // Build OFF transition 0
  iht(objects::ACS_CONTROLLER, OFF, 0, ACS_TABLE_OFF_TRANS_0.second);
  check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_0.first, &ACS_TABLE_OFF_TRANS_0.second)), ctxc);

  // Build OFF transition 1
  iht(objects::IMTQ_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
  iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
  iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
  iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
  check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), 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_0.first, 0, false);
  ihs(ACS_SEQUENCE_OFF.second, ACS_TABLE_OFF_TRANS_1.first, 0, false);
  check(ss.addSequence(&ACS_SEQUENCE_OFF.second, ACS_SEQUENCE_OFF.first, ACS_SEQUENCE_OFF.first,
                       false, true),
        ctxc);
}

void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::acs::buildSafeSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    if (allowAllSubmodes) {
      eh.allowAllSubmodes();
    }
    check(sequence.insert(eh), ctxc);
  };
  // Insert Helper Sequence
  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
                 bool checkSuccess) {
    eh.setTableId(tableId);
    eh.setWaitSeconds(waitSeconds);
    eh.setCheckSuccess(checkSuccess);
    check(sequence.insert(eh), ctxc);
  };
  // Build SAFE target. Allow detumble submode.
  iht(objects::ACS_CONTROLLER, acs::AcsMode::SAFE, 0, ACS_TABLE_SAFE_TGT.second, true);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
  check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);

  // Build SAFE transition 0
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
  iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
  iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
  iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
  check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
        ctxc);

  // SUS board transition table is defined above

  // Build SAFE transition 1
  iht(objects::ACS_CONTROLLER, acs::AcsMode::SAFE, acs::SafeSubmode::DEFAULT,
      ACS_TABLE_SAFE_TRANS_1.second);
  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);
  check(ss.addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first,
                       false, true),
        ctxc);
}

void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::acs::buildIdleSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    if (allowAllSubmodes) {
      eh.allowAllSubmodes();
    }
    check(sequence.insert(eh), ctxc);
  };
  // Insert Helper Sequence
  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
                 bool checkSuccess) {
    eh.setTableId(tableId);
    eh.setWaitSeconds(waitSeconds);
    eh.setCheckSuccess(checkSuccess);
    check(sequence.insert(eh), ctxc);
  };
  // Build IDLE target
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_IDLE, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
  ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);

  // Build IDLE transition 0
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);

  // Build IDLE transition 1
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_IDLE, 0, ACS_TABLE_IDLE_TRANS_1.second);
  ss.addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);

  // Build IDLE sequence
  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true);
  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, true);
  ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, true);
  ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false,
                 true);
}

void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::acs::buildTargetPtSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    if (allowAllSubmodes) {
      eh.allowAllSubmodes();
    }
    check(sequence.insert(eh), ctxc);
  };
  // Insert Helper Sequence
  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
                 bool checkSuccess) {
    eh.setTableId(tableId);
    eh.setWaitSeconds(waitSeconds);
    eh.setCheckSuccess(checkSuccess);
    check(sequence.insert(eh), ctxc);
  };

  // Build TARGET PT table
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TGT.second);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
  check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
        ctxc);

  // Transition 0 already built
  // Build TARGET PT transition 1
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TRANS_1.second);
  check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_1.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, false,
                    true),
        ctxc);

  // Build IDLE sequence
  ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true);
  ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
  ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true);
  check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first,
                       ACS_SEQUENCE_IDLE.first, false, true),
        ctxc);
}

void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::acs::buildTargetPtNadirSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    if (allowAllSubmodes) {
      eh.allowAllSubmodes();
    }
    check(sequence.insert(eh), ctxc);
  };
  // Insert Helper Sequence
  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
                 bool checkSuccess) {
    eh.setTableId(tableId);
    eh.setWaitSeconds(waitSeconds);
    eh.setCheckSuccess(checkSuccess);
    check(sequence.insert(eh), ctxc);
  };

  // Build TARGET PT table
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_NADIR, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
  check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first,
                               &ACS_TABLE_PTG_TARGET_NADIR_TGT.second)),
        ctxc);

  // Transition 0 already built
  // Build TARGET PT transition 1
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_NADIR, 0,
      ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second);
  check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first,
                               &ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second)),
        ctxc);

  // Build IDLE sequence
  ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TGT.first, 0, true);
  ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, SUS_BOARD_NML_TRANS.first, 0, true);
  ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
  ihs(ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first, 0, true);
  check(
      ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_NADIR.first,
                                   &ACS_SEQUENCE_PTG_TARGET_NADIR.second, ACS_SEQUENCE_IDLE.first)),
      ctxc);
}

void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::acs::buildTargetPtGsSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    if (allowAllSubmodes) {
      eh.allowAllSubmodes();
    }
    check(sequence.insert(eh), ctxc);
  };
  // Insert Helper Sequence
  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
                 bool checkSuccess) {
    eh.setTableId(tableId);
    eh.setWaitSeconds(waitSeconds);
    eh.setCheckSuccess(checkSuccess);
    check(sequence.insert(eh), ctxc);
  };

  // Build TARGET PT table
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET_GS, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
  check(ss.addTable(
            TableEntry(ACS_TABLE_PTG_TARGET_GS_TGT.first, &ACS_TABLE_PTG_TARGET_GS_TGT.second)),
        ctxc);

  // Transition 0 already built
  // Build TARGET PT transition 1
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET_GS, 0,
      ACS_TABLE_PTG_TARGET_GS_TRANS_1.second);
  check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_GS_TRANS_1.first,
                               &ACS_TABLE_PTG_TARGET_GS_TRANS_1.second)),
        ctxc);

  // Build IDLE sequence
  ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TGT.first, 0, true);
  ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, SUS_BOARD_NML_TRANS.first, 0, true);
  ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
  ihs(ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_TABLE_PTG_TARGET_GS_TRANS_1.first, 0, true);
  check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_GS.first,
                                     &ACS_SEQUENCE_PTG_TARGET_GS.second, ACS_SEQUENCE_IDLE.first)),
        ctxc);
}

void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
  std::string context = "satsystem::acs::buildTargetPtInertialSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    if (allowAllSubmodes) {
      eh.allowAllSubmodes();
    }
    check(sequence.insert(eh), ctxc);
  };
  // Insert Helper Sequence
  auto ihs = [&](ArrayList<ModeListEntry>& sequence, Mode_t tableId, uint32_t waitSeconds,
                 bool checkSuccess) {
    eh.setTableId(tableId);
    eh.setWaitSeconds(waitSeconds);
    eh.setCheckSuccess(checkSuccess);
    check(sequence.insert(eh), ctxc);
  };

  // Build TARGET PT table
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_INERTIAL, 0,
      ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
  check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first,
                               &ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second)),
        ctxc);

  // Transition 0 already built
  // Build TARGET PT transition 1
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_INERTIAL, 0,
      ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second);
  check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first,
                               &ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second)),
        ctxc);

  // Build IDLE sequence
  ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first, 0, true);
  ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, SUS_BOARD_NML_TRANS.first, 0, true);
  ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
  ihs(ACS_SEQUENCE_PTG_TARGET_INERTIAL.second, ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first, 0,
      true);
  check(ss.addSequence(SequenceEntry(ACS_SEQUENCE_PTG_TARGET_INERTIAL.first,
                                     &ACS_SEQUENCE_PTG_TARGET_INERTIAL.second,
                                     ACS_SEQUENCE_IDLE.first)),
        ctxc);
}

}  // namespace