#include <fsfw/container/FixedMap.h>
#include "acsModeTree.h"

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

#include "eive/objects.h"
#include "mission/controller/controllerdefinitions/AcsControllerDefinitions.h"

Subsystem satsystem::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);

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);
void buildIdleSequence(Subsystem* ss, ModeListEntry& entryHelper);
void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& entryHelper);
void buildTargetPtSequence(Subsystem* ss, ModeListEntry& entryHelper);

// Alias for checker function
const auto check = checkInsert;
static const auto OFF = HasModesIF::MODE_OFF;
static const auto NML = DeviceHandlerIF::MODE_NORMAL;

auto ACS_SEQUENCE_OFF =
    std::make_pair(acs::CtrlModes::OFF << 24, FixedArrayList<ModeListEntry, 2>());
auto ACS_TABLE_OFF_TGT =
    std::make_pair((acs::CtrlModes::OFF << 24) | 1, FixedArrayList<ModeListEntry, 0>());
auto ACS_TABLE_OFF_TRANS =
    std::make_pair((acs::CtrlModes::OFF << 24) | 2, FixedArrayList<ModeListEntry, 6>());

auto ACS_SEQUENCE_DETUMBLE =
    std::make_pair(acs::CtrlModes::DETUMBLE << 24, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_DETUMBLE_TGT =
    std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_DETUMBLE_TRANS_0 =
    std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_DETUMBLE_TRANS_1 =
    std::make_pair((acs::CtrlModes::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());

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

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

auto ACS_SEQUENCE_IDLE_CHRG = std::make_pair(acs::CtrlModes::IDLE << 24 | (acs::IDLE_CHARGE << 8),
                                             FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_IDLE_CHRG_TGT = std::make_pair(
    (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 1, FixedArrayList<ModeListEntry, 4>());
auto ACS_TABLE_IDLE_CHRG_TRANS_0 = std::make_pair(
    (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_IDLE_CHRG_TRANS_1 = std::make_pair(
    (acs::CtrlModes::IDLE << 24) | (acs::IDLE_CHARGE << 8) | 3, FixedArrayList<ModeListEntry, 1>());

auto ACS_SEQUENCE_TARGET_PT =
    std::make_pair(acs::CtrlModes::TARGET_PT, FixedArrayList<ModeListEntry, 3>());
auto ACS_TABLE_TARGET_PT_TGT =
    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 1, FixedArrayList<ModeListEntry, 6>());
auto ACS_TABLE_TARGET_PT_TRANS_0 =
    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 2, FixedArrayList<ModeListEntry, 5>());
auto ACS_TABLE_TARGET_PT_TRANS_1 =
    std::make_pair((acs::CtrlModes::TARGET_PT << 24) | 3, FixedArrayList<ModeListEntry, 1>());

void satsystem::initAcsSubsystem(object_id_t satSystemObjId) {
  ModeListEntry entry;
  buildOffSequence(&ACS_SUBSYSTEM, entry);
  buildSafeSequence(&ACS_SUBSYSTEM, entry);
  buildDetumbleSequence(&ACS_SUBSYSTEM, entry);
  buildIdleSequence(&ACS_SUBSYSTEM, entry);
  buildIdleChargeSequence(&ACS_SUBSYSTEM, entry);
  buildTargetPtSequence(&ACS_SUBSYSTEM, entry);
  ACS_SUBSYSTEM.setInitialMode(HasModesIF::MODE_OFF);
}

void buildOffSequence(Subsystem* ss, ModeListEntry& eh) {
  std::string context = "satsystem::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(&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);
  iht(objects::IMTQ_HANDLER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
  iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_OFF_TRANS.second);
  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);
  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);
  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::buildSafeSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
                 ArrayList<ModeListEntry>& sequence) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    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
  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);
  check(ss->addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);

  // Build SAFE transition 0
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
  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);
  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);
  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_OFF.first,
                        false, true),
        ctxc);
}

void buildDetumbleSequence(Subsystem* ss, ModeListEntry& eh) {
  std::string context = "satsystem::buildDetumbleSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
                 ArrayList<ModeListEntry>& sequence) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    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 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);
  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);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
  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);
  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);
  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);
  check(ss->addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
                        ACS_SEQUENCE_SAFE.first, false, true),
        ctxc);
}

void buildIdleSequence(Subsystem* ss, ModeListEntry& eh) {
  std::string context = "satsystem::buildIdleSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
                 ArrayList<ModeListEntry>& sequence) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    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::CtrlModes::IDLE, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
  ss->addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);

  // Build IDLE transition 0
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::STAR_TRACKER, OFF, 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::CtrlModes::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, false);
  ss->addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first,
                  false, true);
}

void buildIdleChargeSequence(Subsystem* ss, ModeListEntry& eh) {
  std::string context = "satsystem::buildIdleChargeSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
                 ArrayList<ModeListEntry>& sequence) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    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::CtrlModes::IDLE, acs::IDLE_CHARGE,
      ACS_TABLE_IDLE_CHRG_TGT.second);
  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);
  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);
  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_CHRG_TRANS_0.second);
  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);
  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);
  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);
  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) {
  std::string context = "satsystem::buildTargetPtSequence";
  auto ctxc = context.c_str();
  // Insert Helper Table
  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
                 ArrayList<ModeListEntry>& sequence) {
    eh.setObject(obj);
    eh.setMode(mode);
    eh.setSubmode(submode);
    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::CtrlModes::TARGET_PT, 0, ACS_TABLE_TARGET_PT_TGT.second);
  iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TGT.second);
  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);
  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);
  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_TARGET_PT_TRANS_0.second);
  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);
  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);
  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);
  check(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 != returnvalue::OK) {
    sif::warning << "satsystem::checkInsert: Insertion failed at " << ctx;
    if(result == mapdefs::KEY_ALREADY_EXISTS) {
      sif::warning << ": Key already exists" << std::endl;
    } else if(result == mapdefs::MAP_FULL) {
      sif::warning << ": Map full" << std::endl;
    } else {
      sif::warning << std::endl;
    }
  }
}