From b0a2b5886fe8e91af2d12c62387e1322c4b83adf Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Fri, 14 Apr 2023 18:45:58 +0200
Subject: [PATCH] hotfix ACS/SUS

---
 CHANGELOG.md                  |  3 +++
 linux/acs/AcsBoardPolling.cpp | 12 ++++++++----
 linux/acs/SusPolling.cpp      |  4 +++-
 tmtc                          |  2 +-
 4 files changed, 15 insertions(+), 6 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 78b2a491..2c7d6ac7 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -27,6 +27,9 @@ will consitute of a breaking change warranting a new major release:
 - Bugfix for STR where an invalid reply was received for special requests
   like firmware updates.
 - Bugfix for shell command executors in command controller which lead to a crash.
+- Fixed regression where the reply result for ACS board and SUS board devices was set to FAILED
+  even when going to OFF mode. In that case, it has to be set to OK so the device handler can
+  complete the OFF transition.
 
 ## Changed
 
diff --git a/linux/acs/AcsBoardPolling.cpp b/linux/acs/AcsBoardPolling.cpp
index bc3dff74..e525bf53 100644
--- a/linux/acs/AcsBoardPolling.cpp
+++ b/linux/acs/AcsBoardPolling.cpp
@@ -122,13 +122,14 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
         } else {
           sif::warning << "AcsBoardPolling: Unknown ADIS type" << std::endl;
         }
+        adis.replyResult = returnvalue::FAILED;
         adis.performStartup = true;
       } else if (req->mode == acs::SimpleSensorMode::OFF) {
         adis.performStartup = false;
         adis.ownReply.cfgWasSet = false;
         adis.ownReply.dataWasSet = false;
+        adis.replyResult = returnvalue::OK;
       }
-      adis.replyResult = returnvalue::FAILED;
       adis.mode = req->mode;
     }
     return returnvalue::OK;
@@ -144,10 +145,11 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         std::memcpy(gyro.sensorCfg, req->ctrlRegs, 5);
         gyro.performStartup = true;
+        gyro.replyResult = returnvalue::FAILED;
       } else {
         gyro.ownReply.cfgWasSet = false;
+        gyro.replyResult = returnvalue::OK;
       }
-      gyro.replyResult = returnvalue::FAILED;
       gyro.mode = req->mode;
     }
     return returnvalue::OK;
@@ -162,11 +164,12 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
     if (req->mode != mgm.mode) {
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         mgm.performStartup = true;
+        mgm.replyResult = returnvalue::FAILED;
       } else {
         mgm.ownReply.dataWasSet = false;
+        mgm.replyResult = returnvalue::OK;
         mgm.ownReply.temperatureWasSet = false;
       }
-      mgm.replyResult = returnvalue::FAILED;
       mgm.mode = req->mode;
     }
     return returnvalue::OK;
@@ -181,10 +184,11 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
     if (req->mode != mgm.mode) {
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         mgm.performStartup = true;
+        mgm.replyResult = returnvalue::FAILED;
       } else {
         mgm.ownReply.dataWasRead = false;
+        mgm.replyResult = returnvalue::OK;
       }
-      mgm.replyResult = returnvalue::FAILED;
       mgm.mode = req->mode;
     }
     return returnvalue::OK;
diff --git a/linux/acs/SusPolling.cpp b/linux/acs/SusPolling.cpp
index 1da5ef5e..2ef02f43 100644
--- a/linux/acs/SusPolling.cpp
+++ b/linux/acs/SusPolling.cpp
@@ -69,11 +69,13 @@ ReturnValue_t SusPolling::sendMessage(CookieIF* cookie, const uint8_t* sendData,
   if (susDevs[susIdx].mode != susReq->mode) {
     if (susReq->mode == acs::SimpleSensorMode::NORMAL) {
       susDevs[susIdx].performStartup = true;
+      susDevs[susIdx].replyResult = returnvalue::FAILED;
     } else {
       susDevs[susIdx].ownReply.cfgWasSet = false;
       susDevs[susIdx].ownReply.dataWasSet = false;
+      // We are off now, but DHB wants a proper reply.
+      susDevs[susIdx].replyResult = returnvalue::OK;
     }
-    susDevs[susIdx].replyResult = returnvalue::FAILED;
     susDevs[susIdx].mode = susReq->mode;
   }
   if (state == InternalState::IDLE) {
diff --git a/tmtc b/tmtc
index f8da9cff..f5734260 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit f8da9cff7c5d6d6bdd483f90ccefb67b2d1e11a4
+Subproject commit f57342602da3232c0bfecaecb0c10be6d692b384