[FC] A safer way of printing enum to string maps.

Closes #310.
catsystems · Sep 9, 2023 · 98c1711 · 98c1711
1 parent ec20a07
commit 98c1711
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Showing 10 changed files with 83 additions and 69 deletions.
diff --git a/flight_computer/src/cli/cli.cpp b/flight_computer/src/cli/cli.cpp
@@ -354,8 +354,8 @@ static void print_value_pointer(const char *cmdName, const cli_value_t *var, con
         }
         break;
       case MODE_LOOKUP:
-        if (value < lookup_tables[var->config.lookup.table_index].value_count) {
-          cli_print(lookup_tables[var->config.lookup.table_index].values[value]);
+        if (static_cast<size_t>(value) < lookup_tables[var->config.lookup.table_index].size()) {
+          cli_print(lookup_tables[var->config.lookup.table_index][value]);
         } else {
           value_is_corrupted = true;
         }
@@ -430,15 +430,15 @@ void cli_print_var_range(const cli_value_t *var) {
       }
     } break;
     case (MODE_LOOKUP): {
-      const lookup_table_entry_t *tableEntry = &lookup_tables[var->config.lookup.table_index];
+      const EnumToStrMap &tableEntry = lookup_tables[var->config.lookup.table_index];
       cli_print("Allowed values: ");
       bool first_entry = true;
-      for (uint32_t i = 0; i < tableEntry->value_count; i++) {
-        if (tableEntry->values[i]) {
+      for (uint32_t i = 0; i < tableEntry.size(); i++) {
+        if (tableEntry[i]) {
           if (!first_entry) {
             cli_print(", ");
           }
-          cli_printf("%s", tableEntry->values[i]);
+          cli_printf("%s", tableEntry[i]);
           first_entry = false;
         }
       }

diff --git a/flight_computer/src/cli/cli_commands.cpp b/flight_computer/src/cli/cli_commands.cpp
@@ -260,10 +260,10 @@ static void cli_cmd_set(const char *cmd_name, char *args) {
         } else {
           tableIndex = val->config.lookup.table_index;
         }
-        const lookup_table_entry_t *tableEntry = &lookup_tables[tableIndex];
+        const EnumToStrMap &tableEntry = lookup_tables[tableIndex];
         bool matched = false;
-        for (uint32_t tableValueIndex = 0; tableValueIndex < tableEntry->value_count && !matched; tableValueIndex++) {
-          matched = tableEntry->values[tableValueIndex] && strcasecmp(tableEntry->values[tableValueIndex], eqptr) == 0;
+        for (uint32_t tableValueIndex = 0; tableValueIndex < tableEntry.size() && !matched; tableValueIndex++) {
+          matched = tableEntry[tableValueIndex] && strcasecmp(tableEntry[tableValueIndex], eqptr) == 0;
 
           if (matched) {
             cli_set_var(val, tableValueIndex);
@@ -410,7 +410,7 @@ static void cli_cmd_status(const char *cmd_name, char *args) {
   if (new_enum > TOUCHDOWN || new_enum < CALIBRATING) {
     new_enum = INVALID;
   }
-  cli_printf("State:       %s\n", fsm_map[new_enum]);
+  cli_printf("State:       %s\n", GetStr(new_enum, fsm_map));
   cli_printf("Voltage:     %.2fV\n", (double)battery_voltage());
   cli_printf("h: %.2fm, v: %.2fm/s, a: %.2fm/s^2", (double)task::global_state_estimation->GetEstimationOutput().height,
              (double)task::global_state_estimation->GetEstimationOutput().velocity,
@@ -847,33 +847,36 @@ static void print_control_config() {
 }
 
 static void print_action_config() {
-  const lookup_table_entry_t *p_event_table = &lookup_tables[TABLE_EVENTS];
-  const lookup_table_entry_t *p_action_table = &lookup_tables[TABLE_ACTIONS];
+  const EnumToStrMap &p_event_table = lookup_tables[TABLE_EVENTS];
+  const EnumToStrMap &p_action_table = lookup_tables[TABLE_ACTIONS];
 
   cli_printf("\n * ACTION CONFIGURATION *\n");
   config_action_t action;
   for (int i = 0; i < NUM_EVENTS; i++) {
-    int nr_actions = cc_get_num_actions((cats_event_e)(i));
+    const auto ev = static_cast<cats_event_e>(i);
+    int nr_actions = cc_get_num_actions(ev);
     if (nr_actions > 0) {
-      cli_printf("\n%s\n", p_event_table->values[i]);
+      cli_printf("\n%s\n", GetStr(ev, p_event_table));
       cli_printf("   Number of Actions: %d\n", nr_actions);
       for (int j = 0; j < nr_actions; j++) {
-        cc_get_action((cats_event_e)(i), j, &action);
-        cli_printf("     %s - %d\n", p_action_table->values[action.action_idx], action.arg);
+        cc_get_action(ev, j, &action);
+        cli_printf("     %s - %d\n", p_action_table[action.action_idx], action.arg);
       }
     }
   }
 }
 
 static void print_timer_config() {
-  const lookup_table_entry_t *p_event_table = &lookup_tables[TABLE_EVENTS];
+  const EnumToStrMap &p_event_table = lookup_tables[TABLE_EVENTS];
 
   cli_printf("\n\n * TIMER CONFIGURATION *\n");
   for (int i = 0; i < NUM_TIMERS; i++) {
     if (global_cats_config.timers[i].duration > 0) {
       cli_printf("\nTIMER %d\n", i + 1);
-      cli_printf("  Start:    %s\n", p_event_table->values[global_cats_config.timers[i].start_event]);
-      cli_printf("  Trigger:  %s\n", p_event_table->values[global_cats_config.timers[i].trigger_event]);
+      cli_printf("  Start:    %s\n",
+                 GetStr(static_cast<cats_event_e>(global_cats_config.timers[i].start_event), p_event_table));
+      cli_printf("  Trigger:  %s\n",
+                 GetStr(static_cast<cats_event_e>(global_cats_config.timers[i].trigger_event), p_event_table));
       cli_printf("  Duration: %lu ms\n", global_cats_config.timers[i].duration);
     }
   }

diff --git a/flight_computer/src/cli/settings.cpp b/flight_computer/src/cli/settings.cpp
@@ -23,15 +23,6 @@
 
 #include <cstddef>
 
-#define LOOKUP_TABLE_ENTRY(name) \
-  { name, ARRAYLEN(name) }
-
-const lookup_table_entry_t lookup_tables[] = {
-    LOOKUP_TABLE_ENTRY(event_map),   LOOKUP_TABLE_ENTRY(action_map),
-    LOOKUP_TABLE_ENTRY(on_off_map),  {(const char *const *)recorder_speed_map, NUM_REC_SPEEDS},
-    LOOKUP_TABLE_ENTRY(battery_map),
-};
-
 #undef LOOKUP_TABLE_ENTRY
 
 const cli_value_t value_table[] = {

diff --git a/flight_computer/src/cli/settings.hpp b/flight_computer/src/cli/settings.hpp
@@ -19,17 +19,15 @@
 
 #pragma once
 
+#include <array>
+
 #include "config/cats_config.hpp"
+#include "util/enum_str_maps.hpp"
 
 #define ARRAYLEN(x) (sizeof(x) / sizeof((x)[0]))
 
 enum lookup_table_index_e { TABLE_EVENTS = 0, TABLE_ACTIONS, TABLE_POWER, TABLE_SPEEDS, TABLE_BATTERY };
 
-struct lookup_table_entry_t {
-  const char *const *values;
-  const uint8_t value_count;
-};
-
 #define VALUE_TYPE_OFFSET    0
 #define VALUE_SECTION_OFFSET 3
 #define VALUE_MODE_OFFSET    5
@@ -102,7 +100,9 @@ struct cli_value_t {
   callback_f cb;
 } __attribute__((packed));
 
-extern const lookup_table_entry_t lookup_tables[];
+inline constexpr std::array<EnumToStrMap, 5> lookup_tables{event_map, action_map, on_off_map, recorder_speed_map,
+                                                           battery_map};
+
 extern const uint16_t value_table_entry_count;
 
 extern const cli_value_t value_table[];

diff --git a/flight_computer/src/flash/reader.cpp b/flight_computer/src/flash/reader.cpp
@@ -262,16 +262,16 @@ void parse_recording(uint16_t flight_num, rec_entry_type_e filter_mask) {
           size_t elem_sz = sizeof(rec_elem.u.flight_state);
           lfs_file_read(&lfs, &curr_file, (uint8_t *)&rec_elem.u.imu, elem_sz);
           if ((rec_type_without_id & filter_mask) > 0) {
-            log_raw("%lu|FLIGHT_STATE|%s", rec_elem.ts, fsm_map[rec_elem.u.flight_state]);
+            log_raw("%lu|FLIGHT_STATE|%s", rec_elem.ts, GetStr(rec_elem.u.flight_state, fsm_map));
           }
         } break;
         case EVENT_INFO: {
           size_t elem_sz = sizeof(rec_elem.u.event_info);
           lfs_file_read(&lfs, &curr_file, (uint8_t *)&rec_elem.u.imu, elem_sz);
           if ((rec_type_without_id & filter_mask) > 0) {
             peripheral_act_t action = rec_elem.u.event_info.action;
-            log_raw("%lu|EVENT_INFO|%s|%s|%d", rec_elem.ts, event_map[rec_elem.u.event_info.event],
-                    action_map[rec_elem.u.event_info.action.action], action.action_arg);
+            log_raw("%lu|EVENT_INFO|%s|%s|%d", rec_elem.ts, GetStr(rec_elem.u.event_info.event, event_map),
+                    GetStr(rec_elem.u.event_info.action.action, action_map), action.action_arg);
           }
         } break;
         case ERROR_INFO: {

diff --git a/flight_computer/src/init/config.cpp b/flight_computer/src/init/config.cpp
@@ -85,8 +85,8 @@ static void init_timers() {
   /* Init timers */
   for (uint32_t i = 0; i < NUM_TIMERS; i++) {
     if (global_cats_config.timers[i].duration > 0) {
-      ev_timers[i].timer_init_event = (cats_event_e)global_cats_config.timers[i].start_event;
-      ev_timers[i].execute_event = (cats_event_e)global_cats_config.timers[i].trigger_event;
+      ev_timers[i].timer_init_event = static_cast<cats_event_e>(global_cats_config.timers[i].start_event);
+      ev_timers[i].execute_event = static_cast<cats_event_e>(global_cats_config.timers[i].trigger_event);
       ev_timers[i].timer_duration_ticks = global_cats_config.timers[i].duration;
     }
   }

diff --git a/flight_computer/src/tasks/task_flight_fsm.cpp b/flight_computer/src/tasks/task_flight_fsm.cpp
@@ -46,8 +46,8 @@ namespace task {
                        m_task_state_estimation.GetEstimationOutput(), &settings);
 
     if (flight_state.state_changed) {
-      log_info("State Changed FlightFSM to %s", fsm_map[flight_state.flight_state]);
-      log_sim("State Changed FlightFSM to %s", fsm_map[flight_state.flight_state]);
+      log_info("State Changed FlightFSM to %s", GetStr(flight_state.flight_state, fsm_map));
+      log_sim("State Changed FlightFSM to %s", GetStr(flight_state.flight_state, fsm_map));
       record(tick_count, FLIGHT_STATE, &flight_state.flight_state);
     }
 

diff --git a/flight_computer/src/tasks/task_peripherals.cpp b/flight_computer/src/tasks/task_peripherals.cpp
@@ -64,16 +64,17 @@ namespace task {
         /* get the actuator function */
         peripheral_act_fp curr_fp = action_table[action_list[i].action];
         if (curr_fp != nullptr) {
-          log_error("EXECUTING EVENT: %s, ACTION: %s, ACTION_ARG: %d", event_map[curr_event],
-                    action_map[action_list[i].action], action_list[i].action_arg);
+          log_error("EXECUTING EVENT: %s, ACTION: %s, ACTION_ARG: %d", GetStr(curr_event, event_map),
+                    GetStr(action_list[i].action, action_map), action_list[i].action_arg);
           /* call the actuator function */
           curr_fp(action_list[i].action_arg);
           event_info_t event_info = {.event = curr_event, .action = action_list[i]};
           record(curr_ts, EVENT_INFO, &event_info);
         }
       }
       if (num_actions == 0) {
-        log_error("EXECUTING EVENT: %s, ACTION: %s", event_map[curr_event], action_map[action_list[0].action]);
+        log_error("EXECUTING EVENT: %s, ACTION: %s", GetStr(curr_event, event_map),
+                  GetStr(action_list[0].action, action_map));
         timestamp_t curr_ts = osKernelGetTickCount();
         event_info_t event_info = {.event = curr_event, .action = {ACT_NO_OP}};
         record(curr_ts, EVENT_INFO, &event_info);

diff --git a/flight_computer/src/util/enum_str_maps.cpp b/flight_computer/src/util/enum_str_maps.cpp
@@ -21,28 +21,11 @@
 #include "config/globals.hpp"
 #include "util/log.h"
 
+#include <array>
 #include <cstdio>
 
-const char* const fsm_map[8] = {"INVALID",  "CALIBRATING", "READY", "THRUSTING",
-                                "COASTING", "DROGUE",      "MAIN",  "TOUCHDOWN"};
-
-const char* const event_map[9] = {
-    "CALIBRATE", "READY", "LIFTOFF", "MAX_V", "APOGEE", "MAIN_DEPLOYMENT", "TOUCHDOWN", "CUSTOM_1", "CUSTOM_2",
-};
-
-const char* const action_map[8] = {
-    "NONE", "DELAY", "HC_ONE", "HC_TWO", "LL_ONE", "SERVO_ONE", "SERVO_TWO", "RECORDER",
-};
-
-const char* const battery_map[3] = {"LI-ION", "LI-PO", "ALKALINE"};
-
 // Filled later depending on tick frequency
-char* recorder_speed_map[NUM_REC_SPEEDS] = {};
-
-const char* const on_off_map[2] = {
-    "OFF",
-    "ON",
-};
+std::array<char*, NUM_REC_SPEEDS> recorder_speed_map = {};
 
 void init_recorder_speed_map() {
   for (uint32_t i = 0; i < NUM_REC_SPEEDS; ++i) {

diff --git a/flight_computer/src/util/enum_str_maps.hpp b/flight_computer/src/util/enum_str_maps.hpp
@@ -18,14 +18,50 @@
 
 #pragma once
 
+#include <array>
+#include <span>
+#include <type_traits>
+
 #include "config/cats_config.hpp"
 
-extern const char *const fsm_map[8];
-extern const char *const event_map[9];
-extern const char *const action_map[8];
-extern const char *const on_off_map[2];
-extern const char *const battery_map[3];
+using EnumToStrMap = std::span<const char *const>;
+
+/**
+ * @brief Prints the string mapping of a given enum value.
+ *
+ * @tparam T - enum type
+ * @param enum_val - enum value
+ * @param map - enum to string map
+ * @return string value of the given enumt, prints "Unknown" if the passed enum value is out of bounds.
+ */
+template <typename T>
+constexpr const char *GetStr(T enum_val, EnumToStrMap map) {
+  static_assert(std::is_enum<T>::value, "Must be an enum!");
+  const auto map_idx = std::underlying_type_t<T>(enum_val);
+  if (map_idx < 0 || map_idx >= map.size()) {
+    return "Unknown";
+  }
+  return map[map_idx];
+}
+
+inline constexpr std::array<const char *, 8> fsm_map{"INVALID",  "CALIBRATING", "READY", "THRUSTING",
+                                                     "COASTING", "DROGUE",      "MAIN",  "TOUCHDOWN"};
+
+inline constexpr std::array<const char *, NUM_EVENTS> event_map{
+    "CALIBRATE", "READY", "LIFTOFF", "MAX_V", "APOGEE", "MAIN_DEPLOYMENT", "TOUCHDOWN", "CUSTOM_1", "CUSTOM_2",
+};
+
+inline constexpr std::array<const char *, 8> action_map{
+    "NONE", "DELAY", "HC_ONE", "HC_TWO", "LL_ONE", "SERVO_ONE", "SERVO_TWO", "RECORDER",
+};
+
+inline constexpr std::array<const char *, 2> on_off_map{
+    "OFF",
+    "ON",
+};
+
+inline constexpr std::array<const char *, 3> battery_map{"LI-ION", "LI-PO", "ALKALINE"};
 
-extern char *recorder_speed_map[NUM_REC_SPEEDS];
+extern std::array<char *, NUM_REC_SPEEDS> recorder_speed_map;
 
 void init_recorder_speed_map();