Merge pull request 'Dual Lane Boards: Allow Side Switches' (#412) from feature_allow_side_switch into develop

Reviewed-on: #412

CHANGELOG.md

@@ -35,6 +35,7 @@ will consitute of a breaking change warranting a new major release:
 - STR: Fix weird issues on datalink layer data reception which sometimes occur.
 - Syrlinks FDIR: Fully allow FDIR to do more recoveries. Assembly should take care of preventing
   the switch to go off.
+- Allow dual lane assembly side switches.
 
 ## Changed
 

bsp_hosted/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 279 translations.
  * @details
- * Generated on: 2023-03-24 20:58:22
+ * Generated on: 2023-03-24 21:09:31
  */
 #include "translateEvents.h"
 
@@ -212,8 +212,7 @@ const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_
 const char *TRANSITION_OTHER_SIDE_FAILED_12900_STRING = "TRANSITION_OTHER_SIDE_FAILED_12900";
 const char *NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE_12901";
 const char *POWER_STATE_MACHINE_TIMEOUT_12902_STRING = "POWER_STATE_MACHINE_TIMEOUT_12902";
-const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING =
-    "SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903";
+const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903";
 const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
 const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
 const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";

bsp_hosted/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 169 translations.
- * Generated on: 2023-03-24 20:58:22
+ * Generated on: 2023-03-24 21:09:31
  */
 #include "translateObjects.h"
 

generators/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 279 translations.
  * @details
- * Generated on: 2023-03-24 20:58:22
+ * Generated on: 2023-03-24 21:09:31
  */
 #include "translateEvents.h"
 

generators/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 173 translations.
- * Generated on: 2023-03-24 20:58:22
+ * Generated on: 2023-03-24 21:09:31
  */
 #include "translateObjects.h"
 

linux/fsfwconfig/events/translateEvents.cpp

@@ -1,7 +1,7 @@
 /**
  * @brief    Auto-generated event translation file. Contains 279 translations.
  * @details
- * Generated on: 2023-03-24 20:58:22
+ * Generated on: 2023-03-24 21:09:31
  */
 #include "translateEvents.h"
 
@@ -212,8 +212,7 @@ const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_STRING = "SIDE_SWITCH_TRANSITION_
 const char *TRANSITION_OTHER_SIDE_FAILED_12900_STRING = "TRANSITION_OTHER_SIDE_FAILED_12900";
 const char *NOT_ENOUGH_DEVICES_DUAL_MODE_12901_STRING = "NOT_ENOUGH_DEVICES_DUAL_MODE_12901";
 const char *POWER_STATE_MACHINE_TIMEOUT_12902_STRING = "POWER_STATE_MACHINE_TIMEOUT_12902";
-const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING =
-    "SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903";
+const char *SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903_STRING = "SIDE_SWITCH_TRANSITION_NOT_ALLOWED_12903";
 const char *CHILDREN_LOST_MODE_STRING = "CHILDREN_LOST_MODE";
 const char *GPS_FIX_CHANGE_STRING = "GPS_FIX_CHANGE";
 const char *CANT_GET_FIX_STRING = "CANT_GET_FIX";

linux/fsfwconfig/objects/translateObjects.cpp

@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 173 translations.
- * Generated on: 2023-03-24 20:58:22
+ * Generated on: 2023-03-24 21:09:31
  */
 #include "translateObjects.h"
 

mission/system/acs/AcsBoardAssembly.cpp

@@ -110,27 +110,25 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
   using namespace duallane;
   ReturnValue_t result = returnvalue::OK;
   bool needsSecondStep = false;
+  if (sideSwitchState == SideSwitchState::REQUESTED) {
+    sideSwitchState = SideSwitchState::TO_DUAL;
+  }
+  // Switch to dual side first, and later switch back to the otherside
+  if (sideSwitchState == SideSwitchState::TO_DUAL) {
+    targetSubmodeForSideSwitch = static_cast<duallane::Submodes>(submode);
+    submode = Submodes::DUAL_MODE;
+    sideSwitchState = SideSwitchState::DISABLE_OTHER_SIDE;
+    // TODO: Ugly hack. The base class should support arbitrary number of steps..
+    needsSecondStep = true;
+  } else if (sideSwitchState == SideSwitchState::DISABLE_OTHER_SIDE) {
+    submode = targetSubmodeForSideSwitch;
+  }
   auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, ModeTableIdx tableIdx) {
     if (mode == devMode) {
       modeTable[tableIdx].setMode(mode);
-    } else if (mode == DeviceHandlerIF::MODE_NORMAL) {
-      if (isUseable(objectId, devMode)) {
-        if (devMode == MODE_ON) {
-          modeTable[tableIdx].setMode(mode);
-          modeTable[tableIdx].setSubmode(SUBMODE_NONE);
-        } else {
-          modeTable[tableIdx].setMode(MODE_ON);
-          modeTable[tableIdx].setSubmode(SUBMODE_NONE);
-          if (internalState != STATE_SECOND_STEP) {
-            needsSecondStep = true;
-          }
-        }
-      }
-    } else if (mode == MODE_ON) {
-      if (isUseable(objectId, devMode)) {
-        modeTable[tableIdx].setMode(MODE_ON);
-        modeTable[tableIdx].setSubmode(SUBMODE_NONE);
-      }
+    } else if (isUseable(objectId, devMode)) {
+      modeTable[tableIdx].setMode(mode);
+      modeTable[tableIdx].setSubmode(SUBMODE_NONE);
     }
   };
   bool gpsUsable = isUseable(helper.gpsId, helper.gpsMode);

mission/system/acs/DualLaneAssemblyBase.cpp

@@ -36,6 +36,7 @@ void DualLaneAssemblyBase::performChildOperation() {
 void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t 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.
@@ -45,9 +46,13 @@ void DualLaneAssemblyBase::startTransition(Mode_t mode, Submode_t submode) {
       AssemblyBase::startTransition(mode, submode);
       return;
     }
+    uint8_t pwrSubmode = submode;
+    if (sideSwitchState == SideSwitchState::REQUESTED) {
+      pwrSubmode = duallane::DUAL_MODE;
+    }
     // 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);
+    pwrStateMachine.start(mode, pwrSubmode);
     // Cache these for later after the power state machine has finished
     targetMode = mode;
     targetSubmode = submode;
@@ -111,11 +116,7 @@ ReturnValue_t DualLaneAssemblyBase::isModeCombinationValid(Mode_t mode, Submode_
     return returnvalue::FAILED;
   }
   if (sideSwitchTransition(mode, submode)) {
-    // I could implement this but this would increase the already high complexity. This is not
-    // necessary. The operator should can send a command to switch the assembly off first and
-    // then send a command to turn on the other side, either to ON or to NORMAL
-    triggerEvent(SIDE_SWITCH_TRANSITION_NOT_ALLOWED_ID, 0, 0);
-    return TRANS_NOT_ALLOWED;
+    sideSwitchState = SideSwitchState::REQUESTED;
   }
   return returnvalue::OK;
 }
@@ -231,9 +232,8 @@ bool DualLaneAssemblyBase::sideSwitchTransition(Mode_t mode, Submode_t submode)
     return false;
   }
   if (this->mode == MODE_ON or this->mode == DeviceHandlerIF::MODE_NORMAL) {
-    if (this->submode == Submodes::A_SIDE and submode == Submodes::B_SIDE) {
-      return true;
-    } else if (this->submode == Submodes::B_SIDE and submode == Submodes::A_SIDE) {
+    if ((this->submode == Submodes::A_SIDE and submode == Submodes::B_SIDE) or
+        (this->submode == Submodes::B_SIDE and submode == Submodes::A_SIDE)) {
       return true;
     }
     return false;
@@ -247,6 +247,7 @@ void DualLaneAssemblyBase::finishModeOp() {
   pwrStateMachine.reset();
   powerRetryCounter = 0;
   tryingOtherSide = false;
+  sideSwitchState = SideSwitchState::NONE;
   dualToSingleSideTransition = false;
   dualModeErrorSwitch = true;
 }

mission/system/acs/DualLaneAssemblyBase.h

@@ -34,6 +34,11 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
   bool dualToSingleSideTransition = false;
   duallane::Submodes defaultSubmode = duallane::Submodes::A_SIDE;
 
+  enum SideSwitchState { NONE, REQUESTED, TO_DUAL, DISABLE_OTHER_SIDE };
+
+  SideSwitchState sideSwitchState = SideSwitchState::NONE;
+  duallane::Submodes targetSubmodeForSideSwitch = duallane::Submodes::B_SIDE;
+
   enum RecoveryCustomStates {
     IDLE,
     POWER_SWITCHING_OFF,