mission/acs/str/StarTrackerHandler.cpp

@@ -82,17 +82,13 @@ void StarTrackerHandler::doStartUp() {
       // the device handler's submode to the star tracker's mode
       return;
     case StartupState::DONE:
-      if (jcfgCountdown.isBusy()) {
+      if (!JCFG_DONE) {
         startupState = StartupState::WAIT_JCFG;
         return;
       }
       startupState = StartupState::IDLE;
       break;
     case StartupState::WAIT_JCFG: {
-      if (jcfgCountdown.hasTimedOut()) {
-        startupState = StartupState::IDLE;
-        break;
-      }
       return;
     }
     default:
@@ -172,6 +168,7 @@ bool StarTrackerHandler::reloadJsonCfgFile() {
   jcfgCountdown.resetTimer();
   auto strCfgPath = cfgPathGetter.getCfgPath();
   if (strCfgPath.has_value()) {
+    jcfgPending = true;
     jsonCfgTask = std::thread{setUpJsonCfgs, std::ref(jcfgs), strCfgPath.value()};
     return true;
   }
@@ -199,13 +196,14 @@ ReturnValue_t StarTrackerHandler::executeAction(ActionId_t actionId, MessageQueu
       return EXECUTION_FINISHED;
     }
     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()) {
-        return HasActionsIF::EXECUTION_FINISHED;
-      }
-      return returnvalue::FAILED;
+      reloadJsonCfgFile();
+      return returnvalue::OK;
     }
     case (startracker::RESET_SECONDARY_TM_SET): {
       resetSecondaryTmSet();
@@ -355,6 +353,24 @@ void StarTrackerHandler::performOperationHook() {
         break;
     }
   }
+  if (jcfgPending) {
+    if (JCFG_DONE) {
+      auto iter = deviceCommandMap.find(startracker::RELOAD_JSON_CFG_FILE);
+      if (iter != deviceCommandMap.end()) {
+        if (iter->second.sendReplyTo != MessageQueueIF::NO_QUEUE) {
+          actionHelper.finish(true, iter->second.sendReplyTo, startracker::RELOAD_JSON_CFG_FILE);
+        }
+      }
+      jsonCfgTask.join();
+      jcfgPending = false;
+    } else if (jcfgCountdown.hasTimedOut()) {
+      auto iter = deviceCommandMap.find(startracker::RELOAD_JSON_CFG_FILE);
+      if (iter->second.sendReplyTo != MessageQueueIF::NO_QUEUE) {
+        actionHelper.finish(false, iter->second.sendReplyTo, startracker::RELOAD_JSON_CFG_FILE,
+                            returnvalue::FAILED);
+      }
+    }
+  }
 }
 
 Submode_t StarTrackerHandler::getInitialSubmode() { return startracker::SUBMODE_BOOTLOADER; }

mission/acs/str/StarTrackerHandler.h

@@ -240,8 +240,9 @@ class StarTrackerHandler : public DeviceHandlerBase {
     Subscription subscription;
     AutoThreshold autoThreshold;
   };
+  bool jcfgPending = false;
   JsonConfigs jcfgs;
-  Countdown jcfgCountdown = Countdown(250);
+  Countdown jcfgCountdown = Countdown(1000);
   bool commandExecuted = false;
   std::thread jsonCfgTask;
   static void setUpJsonCfgs(JsonConfigs& cfgs, std::string paramJsonFile);