first version of ACS board ASS working

- Testes transition OFF to NORMAL for A side
- Refactored power switching so it can be used by SUS ass as well
- Generate events for sending switch command
- Generate event if switch state changes
- Deny Q7S switch commanding

mission/system/AcsBoardAssembly.h

@@ -6,6 +6,8 @@
 #include <fsfw/devicehandlers/AssemblyBase.h>
 #include <fsfw/objectmanager/frameworkObjects.h>
 
+#include "DualLanePowerStateMachine.h"
+
 struct AcsBoardHelper {
   AcsBoardHelper(object_id_t mgm0Id, object_id_t mgm1Id, object_id_t mgm2Id, object_id_t mgm3Id,
                  object_id_t gyro0Id, object_id_t gyro1Id, object_id_t gyro2Id, object_id_t gyro3Id,
@@ -58,6 +60,17 @@ enum ModeTableIdx : uint8_t {
 class PowerSwitchIF;
 class GpioIF;
 
+/**
+ * @brief  Assembly class which manages redundant ACS board sides
+ * @details
+ * This class takes care of ensuring that enough devices on the ACS board are available at all
+ * times. It does so by doing autonomous transitions to the redundant side or activating both sides
+ * if not enough devices are available.
+ *
+ * This class also takes care of switching on the A side and/or B side power lanes. Normally,
+ * doing this task would be performed by the device handlers, but this is not possible for the
+ * ACS board where multiple sensors share the same power supply.
+ */
 class AcsBoardAssembly : public AssemblyBase {
  public:
   static constexpr uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_BOARD_ASS;
@@ -67,19 +80,17 @@ class AcsBoardAssembly : public AssemblyBase {
       event::makeEvent(SUBSYSTEM_ID, 1, severity::HIGH);
   static constexpr uint8_t NUMBER_DEVICES_MODE_TABLE = 9;
 
-  enum Submodes : Submode_t { A_SIDE = 0, B_SIDE = 1, DUAL_MODE = 2 };
-
   AcsBoardAssembly(object_id_t objectId, object_id_t parentId, PowerSwitchIF* pwrSwitcher,
                    AcsBoardHelper helper, GpioIF* gpioIF);
 
-  void setPreferredSide(Submodes submode);
+  void setPreferredSide(duallane::Submodes submode);
 
   /**
    * In dual mode, the A side or the B side GPS device can be used, but not both.
    * This function can be used to switch the used GPS device.
    * @param side
    */
-  void selectGpsInDualMode(Submodes side);
+  void selectGpsInDualMode(duallane::Submodes side);
 
  private:
   static constexpr pcduSwitches::Switches SWITCH_A =
@@ -87,13 +98,13 @@ class AcsBoardAssembly : public AssemblyBase {
   static constexpr pcduSwitches::Switches SWITCH_B =
       pcduSwitches::Switches::PDU2_CH7_ACS_BOARD_SIDE_B_3V3;
 
-  enum class States { IDLE, SWITCHING_POWER, MODE_COMMANDING } state = States::IDLE;
-
-  PowerSwitchIF* pwrSwitcher = nullptr;
+  // This helper object complete encapsulates power switching
+  DualLanePowerStateMachine pwrStateMachine;
   bool tryingOtherSide = false;
   AcsBoardHelper helper;
   GpioIF* gpioIF = nullptr;
-  Submodes defaultSubmode = Submodes::A_SIDE;
+  duallane::PwrStates state = duallane::PwrStates::IDLE;
+  duallane::Submodes defaultSubmode = duallane::Submodes::A_SIDE;
   bool dualModeErrorSwitch = true;
   FixedArrayList<ModeListEntry, NUMBER_DEVICES_MODE_TABLE> modeTable;
 
@@ -103,7 +114,8 @@ class AcsBoardAssembly : public AssemblyBase {
   ReturnValue_t commandChildren(Mode_t mode, Submode_t submode) override;
   ReturnValue_t checkChildrenStateOn(Mode_t wantedMode, Submode_t wantedSubmode) override;
   ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
-  void handleChildrenTransition() override;
+  void performChildOperation() override;
+  void startTransition(Mode_t mode, Submode_t submode) override;
   void handleModeReached() override;
   void handleModeTransitionFailed(ReturnValue_t result) override;
   void handleChildrenLostMode(ReturnValue_t result) override;
@@ -116,9 +128,16 @@ class AcsBoardAssembly : public AssemblyBase {
    */
   bool isUseable(object_id_t object, Mode_t mode);
   ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
-  void powerStateMachine(Mode_t mode, Submode_t submode);
   void initModeTableEntry(object_id_t id, ModeListEntry& entry);
   void refreshHelperModes();
+  void finishModeOp();
+  /**
+   * Thin wrapper function which is required because the helper class
+   * can not access protected member functions.
+   * @param mode
+   * @param submode
+   */
+  void pwrStateMachineWrapper(Mode_t mode, Submode_t submode);
 };
 
 #endif /* MISSION_SYSTEM_ACSBOARDASSEMBLY_H_ */