From cdad099f32e14771209e70204b096b7987d1fc67 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 21 Nov 2023 14:54:21 +0100
Subject: [PATCH] PLEASE WORK

---
 mission/acs/str/StarTrackerHandler.cpp | 39 ++++++++++++++++----------
 mission/acs/str/StarTrackerHandler.h   |  5 +++-
 2 files changed, 28 insertions(+), 16 deletions(-)

diff --git a/mission/acs/str/StarTrackerHandler.cpp b/mission/acs/str/StarTrackerHandler.cpp
index 0b58d61e..79f29a7f 100644
--- a/mission/acs/str/StarTrackerHandler.cpp
+++ b/mission/acs/str/StarTrackerHandler.cpp
@@ -5,6 +5,8 @@
 #include <mission/acs/str/strHelpers.h>
 #include <mission/acs/str/strJsonCommands.h>
 
+#include "fsfw/ipc/MessageQueueIF.h"
+
 extern "C" {
 #include <sagitta/client/actionreq.h>
 #include <sagitta/client/client_tm_structs.h>
@@ -183,21 +185,6 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
   ReturnValue_t result = returnvalue::OK;
 
   switch (actionId) {
-    case (startracker::RELOAD_JSON_CFG_FILE): {
-      if (jcfgPending) {
-        return HasActionsIF::IS_BUSY;
-      }
-      // It should be noted that this just reloads the JSON config structure in memory from the
-      // JSON file. The configuration still needs to be sent to the STR. The easiest way to achieve
-      // this is to simply reboot the device after a reload.
-      if(reloadJsonCfgFile()) {
-        // Could trigger this after the thread has finished, but the base class does not accept
-        // commands for buildCommandForCommand when it is OFF. I am sure there is way to solve
-        // this, but I don't care anymore. This is fine.
-        return HasActionsIF::EXECUTION_FINISHED;
-      };
-      return returnvalue::OK;
-    }
     case (startracker::ADD_SECONDARY_TM_TO_NORMAL_MODE): {
       if (size < 4) {
         return HasActionsIF::INVALID_PARAMETERS;
@@ -361,11 +348,21 @@ void StarTrackerHandler::performOperationHook() {
   }
   if (jcfgPending) {
     if (JCFG_DONE) {
+      sif::debug << "jcfg fucking done" << std::endl;
       jsonCfgTask.join();
       jcfgPending = false;
       JCFG_DONE = false;
+      auto iter = deviceCommandMap.find(startracker::RELOAD_JSON_CFG_FILE);
+      if (iter != deviceCommandMap.end() and iter->second.sendReplyTo != MessageQueueIF::NO_QUEUE) {
+        sif::debug << "jcfg sending finished" << std::endl;
+        actionHelper.finish(true, iter->second.sendReplyTo, startracker::RELOAD_JSON_CFG_FILE);
+      }
     } else if (jcfgCountdown.hasTimedOut()) {
       JCFG_DONE = false;
+      auto iter = deviceCommandMap.find(startracker::RELOAD_JSON_CFG_FILE);
+      if (iter != deviceCommandMap.end() and iter->second.sendReplyTo != MessageQueueIF::NO_QUEUE) {
+        actionHelper.finish(false, iter->second.sendReplyTo, startracker::RELOAD_JSON_CFG_FILE);
+      }
     }
   }
 }
@@ -532,6 +529,16 @@ ReturnValue_t StarTrackerHandler::buildCommandFromCommand(DeviceCommandId_t devi
       preparePingRequest();
       return returnvalue::OK;
     }
+    case (startracker::RELOAD_JSON_CFG_FILE): {
+      if (jcfgPending) {
+        return HasActionsIF::IS_BUSY;
+      }
+      // It should be noted that this just reloads the JSON config structure in memory from the
+      // JSON file. The configuration still needs to be sent to the STR. The easiest way to achieve
+      // this is to simply reboot the device after a reload.
+      reloadJsonCfgFile();
+      return returnvalue::OK;
+    }
     case (startracker::SET_TIME_FROM_SYS_TIME): {
       SetTimeActionRequest setTimeRequest{};
       timeval tv;
@@ -2846,3 +2853,5 @@ ReturnValue_t StarTrackerHandler::checkCommand(ActionId_t actionId) {
   }
   return returnvalue::OK;
 }
+
+ReturnValue_t StarTrackerHandler::acceptExternalDeviceCommands() { return returnvalue::OK; }
diff --git a/mission/acs/str/StarTrackerHandler.h b/mission/acs/str/StarTrackerHandler.h
index ad37557d..6bc1ff09 100644
--- a/mission/acs/str/StarTrackerHandler.h
+++ b/mission/acs/str/StarTrackerHandler.h
@@ -27,7 +27,9 @@ extern "C" {
  * @details Datasheet: https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_IRS/
  *                     Arbeitsdaten/08_Used%20Components/ArcSec_KULeuven_Startracker/
  *                     Sagitta%201.0%20Datapack&fileid=659181
- * @author	J. Meier
+ * @note The STR code is a chaotic inconsistent mess and should be re-written with a simpler base
+ *       class. DO NOT USE THIS AS REFERENCE. Stay away from it.
+ * @author	J. Meier, R. Mueller
  */
 class StarTrackerHandler : public DeviceHandlerBase {
  public:
@@ -546,6 +548,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
   void bootFirmware(Mode_t toMode);
   void bootBootloader();
   bool reloadJsonCfgFile();
+  ReturnValue_t acceptExternalDeviceCommands() override;
 };
 
 #endif /* MISSION_DEVICES_STARTRACKERHANDLER_H_ */