Merge pull request 'str assembly mode checks' (#571) from syrlinks_assy_mode_checks into develop

Reviewed-on: #571
Reviewed-by: Marius Eggert <eggertm@irs.uni-stuttgart.de>

CHANGELOG.md

@@ -20,6 +20,10 @@ will consitute of a breaking change warranting a new major release:
 
 - Adapted HK data rates to new table for LEOP SAFE mode.
 - GPS controller HK is now generated periodically as well.
+- Better mode combination checks for assembly components. This includes:
+  - IMTQ assembly
+  - Syrlinks assembly
+  - Dual Lane Assembly
 
 # [v1.43.1] 2023-04-04
 

mission/acs/str/StarTrackerHandler.cpp

@@ -277,7 +277,7 @@ void StarTrackerHandler::performOperationHook() {
   }
 }
 
-Submode_t StarTrackerHandler::getInitialSubmode() { return SUBMODE_BOOTLOADER; }
+Submode_t StarTrackerHandler::getInitialSubmode() { return startracker::SUBMODE_BOOTLOADER; }
 
 ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   if (strHelperHandlingSpecialRequest) {
@@ -705,7 +705,7 @@ ReturnValue_t StarTrackerHandler::isModeCombinationValid(Mode_t mode, Submode_t
         return INVALID_SUBMODE;
       }
     case MODE_ON:
-      if (submode == SUBMODE_BOOTLOADER || submode == SUBMODE_FIRMWARE) {
+      if (submode == startracker::SUBMODE_BOOTLOADER || submode == startracker::SUBMODE_FIRMWARE) {
         return returnvalue::OK;
       } else {
         return INVALID_SUBMODE;
@@ -736,6 +736,7 @@ void StarTrackerHandler::doTransition(Mode_t modeFrom, Submode_t subModeFrom) {
 }
 
 void StarTrackerHandler::doOnTransition(Submode_t subModeFrom) {
+  using namespace startracker;
   uint8_t dhbSubmode = getSubmode();
   // We hide that the transition to submode firmware actually goes through the submode bootloader.
   // This is because the startracker always starts in bootloader mode but we want to allow direct
@@ -762,6 +763,7 @@ void StarTrackerHandler::doOnTransition(Submode_t subModeFrom) {
 }
 
 void StarTrackerHandler::doNormalTransition(Mode_t modeFrom, Submode_t subModeFrom) {
+  using namespace startracker;
   if (subModeFrom == SUBMODE_FIRMWARE) {
     setMode(MODE_NORMAL);
   } else if (subModeFrom == SUBMODE_BOOTLOADER) {
@@ -787,7 +789,7 @@ void StarTrackerHandler::bootFirmware(Mode_t toMode) {
       if (toMode == MODE_NORMAL) {
         setMode(toMode, 0);
       } else {
-        setMode(toMode, SUBMODE_FIRMWARE);
+        setMode(toMode, startracker::SUBMODE_FIRMWARE);
       }
       sif::info << "STR: Firmware boot success" << std::endl;
       internalState = InternalState::IDLE;

mission/acs/str/StarTrackerHandler.h

@@ -54,9 +54,6 @@ class StarTrackerHandler : public DeviceHandlerBase {
 
   Submode_t getInitialSubmode() override;
 
-  static const Submode_t SUBMODE_BOOTLOADER = 1;
-  static const Submode_t SUBMODE_FIRMWARE = 2;
-
  protected:
   void doStartUp() override;
   void doShutDown() override;

mission/acs/str/strHelpers.h

@@ -11,6 +11,9 @@
 
 namespace startracker {
 
+static const Submode_t SUBMODE_BOOTLOADER = 1;
+static const Submode_t SUBMODE_FIRMWARE = 2;
+
 /**
  * @brief    Returns the frame type field of a decoded frame.
  */

mission/system/acs/DualLaneAssemblyBase.cpp

@@ -114,8 +114,11 @@ ReturnValue_t DualLaneAssemblyBase::pwrStateMachineWrapper() {
 
 ReturnValue_t DualLaneAssemblyBase::isModeCombinationValid(Mode_t mode, Submode_t submode) {
   using namespace duallane;
-  if (submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE) {
-    return returnvalue::FAILED;
+  if (mode != MODE_OFF and (submode != A_SIDE and submode != B_SIDE and submode != DUAL_MODE)) {
+    return HasModesIF::INVALID_SUBMODE;
+  }
+  if(mode == MODE_OFF and submode != SUBMODE_NONE) {
+    return HasModesIF::INVALID_SUBMODE;
   }
   return returnvalue::OK;
 }

mission/system/acs/DualLaneAssemblyBase.h

@@ -70,7 +70,8 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
    * @param submode
    */
   virtual ReturnValue_t pwrStateMachineWrapper();
-  virtual ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+  ReturnValue_t isModeCombinationValid(Mode_t mode, Submode_t submode) override;
+
   /**
    * Custom recovery implementation to ensure that the power lines are commanded off for a
    * recovery.

mission/system/acs/ImtqAssembly.cpp

@@ -35,9 +35,12 @@ ReturnValue_t ImtqAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wa
 
 ReturnValue_t ImtqAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
   if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) {
+    if(submode != SUBMODE_NONE) {
+      return HasModesIF::INVALID_SUBMODE;
+    }
     return returnvalue::OK;
   }
-  return returnvalue::FAILED;
+  return HasModesIF::INVALID_MODE;
 }
 
 ReturnValue_t ImtqAssembly::checkAndHandleHealthState(Mode_t deviceMode, Submode_t deviceSubmode) {

mission/system/acs/StrAssembly.cpp

@@ -2,6 +2,8 @@
 
 #include <eive/objects.h>
 
+#include "mission/acs/str/strHelpers.h"
+
 StrAssembly::StrAssembly(object_id_t objectId) : AssemblyBase(objectId) {
   ModeListEntry entry;
   entry.setObject(objects::STAR_TRACKER);
@@ -31,5 +33,12 @@ ReturnValue_t StrAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_t wan
 }
 
 ReturnValue_t StrAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
+  if ((mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) and submode != SUBMODE_NONE) {
+    return HasModesIF::INVALID_SUBMODE;
+  }
+  if (mode == MODE_ON and
+      (submode != startracker::SUBMODE_BOOTLOADER and submode != startracker::SUBMODE_FIRMWARE)) {
+    return HasModesIF::INVALID_SUBMODE;
+  }
   return returnvalue::OK;
 }

mission/system/com/SyrlinksAssembly.cpp

@@ -1,6 +1,7 @@
 #include "SyrlinksAssembly.h"
 
 #include <eive/objects.h>
+#include <mission/com/defs.h>
 
 using namespace returnvalue;
 
@@ -34,10 +35,16 @@ ReturnValue_t SyrlinksAssembly::checkChildrenStateOn(Mode_t wantedMode, Submode_
 }
 
 ReturnValue_t SyrlinksAssembly::isModeCombinationValid(Mode_t mode, Submode_t submode) {
-  if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_OFF) {
+  if (mode == MODE_ON or mode == DeviceHandlerIF::MODE_NORMAL) {
+    if (submode >= com::Submode::NUM_SUBMODES or submode < com::Submode::RX_ONLY) {
+      return HasModesIF::INVALID_SUBMODE;
+    }
     return returnvalue::OK;
   }
-  return returnvalue::FAILED;
+  if(mode == MODE_OFF and submode != SUBMODE_NONE) {
+    return HasModesIF::INVALID_SUBMODE;
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t SyrlinksAssembly::checkAndHandleHealthState(Mode_t deviceMode,