From 5890e639feb5dbe22bd6dab9d9ba977be9dcc009 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Mon, 20 Mar 2023 10:17:41 +0100
Subject: [PATCH] bugfix for dual to single side transition

---
 mission/system/objects/DualLaneAssemblyBase.cpp | 12 ++++++++++--
 mission/system/objects/DualLaneAssemblyBase.h   |  1 +
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/mission/system/objects/DualLaneAssemblyBase.cpp b/mission/system/objects/DualLaneAssemblyBase.cpp
index ca969dbb..582ba886 100644
--- a/mission/system/objects/DualLaneAssemblyBase.cpp
+++ b/mission/system/objects/DualLaneAssemblyBase.cpp
@@ -34,10 +34,17 @@ void DualLaneAssemblyBase::performChildOperation() {
 }
 
 void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
-  // doStartTransition(mode, submode);
   using namespace duallane;
   pwrStateMachine.reset();
   if (mode != MODE_OFF) {
+    // Special exception: A transition from dual side to single mode must be handled like
+    // going OFF.
+    if ((this->mode == MODE_ON or this->mode == DeviceHandlerIF::MODE_NORMAL) and
+        this->submode == DUAL_MODE and submode != DUAL_MODE) {
+      dualToSingleSideTransition = true;
+      AssemblyBase::startTransition(mode, submode);
+      return;
+    }
     // If anything other than MODE_OFF is commanded, perform power state machine first
     // Cache the target modes, required by power state machine
     pwrStateMachine.start(mode, submode);
@@ -111,7 +118,7 @@ ReturnValue_t DualLaneAssemblyBase::isModeCombinationValid(Mode_t mode, Submode_
 
 void DualLaneAssemblyBase::handleModeReached() {
   using namespace duallane;
-  if (targetMode == MODE_OFF) {
+  if (targetMode == MODE_OFF or dualToSingleSideTransition) {
     pwrStateMachine.start(targetMode, targetSubmode);
     // Now we can switch off the power. After that, the AssemblyBase::handleModeReached function
     // will be called
@@ -229,6 +236,7 @@ void DualLaneAssemblyBase::finishModeOp() {
   pwrStateMachine.reset();
   powerRetryCounter = 0;
   tryingOtherSide = false;
+  dualToSingleSideTransition = false;
   dualModeErrorSwitch = true;
 }
 
diff --git a/mission/system/objects/DualLaneAssemblyBase.h b/mission/system/objects/DualLaneAssemblyBase.h
index a8a2f521..929ef3f9 100644
--- a/mission/system/objects/DualLaneAssemblyBase.h
+++ b/mission/system/objects/DualLaneAssemblyBase.h
@@ -31,6 +31,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
   uint8_t powerRetryCounter = 0;
   bool tryingOtherSide = false;
   bool dualModeErrorSwitch = true;
+  bool dualToSingleSideTransition = false;
   duallane::Submodes defaultSubmode = duallane::Submodes::A_SIDE;
 
   enum RecoveryCustomStates {