[GS] Dipswitch now with TX enable switches

TX enable switches to enable the TX to Main or Payload

src/boards/Groundstation/LyraGS/Radio/Radio.cpp

@@ -150,3 +150,23 @@ bool RadioPayload::start()
 
     return true;
 }
+
+bool RadioMain::sendMsg(const mavlink_message_t& msg)
+{
+    if (txEnable)
+        return RadioBase::sendMsg(msg);
+    return false;
+};
+
+/**
+ * @brief Send a mavlink message through this radio if it has been enabled
+ * by dipSwitch
+ *
+ * @returns false when the queue is full.
+ */
+bool RadioPayload::sendMsg(const mavlink_message_t& msg)
+{
+    if (txEnable)
+        return RadioBase::sendMsg(msg);
+    return false;
+};
\ No newline at end of file

src/boards/Groundstation/LyraGS/Radio/Radio.h

@@ -47,8 +47,20 @@ public:
 
     RadioMain() : hasBackup{false} {};
 
+    RadioMain(bool hasBackup, bool txEnable)
+        : hasBackup{hasBackup}, txEnable{txEnable} {};
+
+    /**
+     * @brief Send a mavlink message through this radio if it has been enabled
+     * by dipSwitch for transmission
+     *
+     * @returns false when the queue is full or if tx is not enabled.
+     */
+    bool sendMsg(const mavlink_message_t& msg);
+
 private:
     bool hasBackup = false;
+    bool txEnable  = true;
 };
 class RadioPayload : public Boardcore::InjectableWithDeps<
                          Boardcore::InjectableBase<Groundstation::RadioBase>,
@@ -61,8 +73,20 @@ public:
 
     RadioPayload() : hasBackup{false} {};
 
+    RadioPayload(bool hasBackup, bool txEnable)
+        : hasBackup{hasBackup}, txEnable{txEnable} {};
+
+    /**
+     * @brief Send a mavlink message through this radio if it has been enabled
+     * by dipSwitch for transmission
+     *
+     * @returns false when the queue is full or if tx is not enabled.
+     */
+    bool sendMsg(const mavlink_message_t& msg);
+
 private:
     bool hasBackup = false;
+    bool txEnable  = true;
 };
 
 }  // namespace LyraGS
\ No newline at end of file

src/entrypoints/Groundstation/lyra-gs-entry.cpp

@@ -56,6 +56,8 @@ struct DipStatusLyraGS
     bool isARP;
     bool mainHasBackup;
     bool payloadHasBackup;
+    bool mainTXenable;
+    bool payloadTXenable;
     uint8_t ipConfig;
 };
 
@@ -65,7 +67,9 @@ DipStatusLyraGS getDipStatus(uint8_t read)
     dipRead.isARP            = 1 & read;
     dipRead.mainHasBackup    = 1 & (read >> 1);
     dipRead.payloadHasBackup = 1 & (read >> 2);
-    dipRead.ipConfig         = 0 | (read >> 3);
+    dipRead.mainTXenable     = 1 & (read >> 3);
+    dipRead.payloadTXenable  = 1 & (read >> 4);
+    dipRead.ipConfig         = 0 | (read >> 5);
     return dipRead;
 }
 
@@ -136,12 +140,12 @@ int main()
     Buses *buses                  = new Buses();
     Serial *serial                = new Serial();
     LyraGS::RadioMain *radio_main =
-        new LyraGS::RadioMain(dipRead.mainHasBackup);
+        new LyraGS::RadioMain(dipRead.mainHasBackup, dipRead.mainTXenable);
     LyraGS::BoardStatus *board_status = new LyraGS::BoardStatus(dipRead.isARP);
     LyraGS::EthernetGS *ethernet =
         new LyraGS::EthernetGS(false, dipRead.ipConfig);
-    LyraGS::RadioPayload *radio_payload =
-        new LyraGS::RadioPayload(dipRead.payloadHasBackup);
+    LyraGS::RadioPayload *radio_payload = new LyraGS::RadioPayload(
+        dipRead.payloadHasBackup, dipRead.payloadTXenable);
 
     HubBase *hub = nullptr;