From 5a9304765f670685b6ca27cc9e6064012a17bab7 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Thu, 6 Apr 2023 22:34:57 +0200
Subject: [PATCH] accepts action commands without ipc data

---
 src/fsfw/action/ActionHelper.cpp | 21 ++++++++++++++-------
 1 file changed, 14 insertions(+), 7 deletions(-)

diff --git a/src/fsfw/action/ActionHelper.cpp b/src/fsfw/action/ActionHelper.cpp
index fd6c8afb..5e0a9a5f 100644
--- a/src/fsfw/action/ActionHelper.cpp
+++ b/src/fsfw/action/ActionHelper.cpp
@@ -59,17 +59,24 @@ void ActionHelper::setQueueToUse(MessageQueueIF* queue) { queueToUse = queue; }
 
 void ActionHelper::prepareExecution(MessageQueueId_t commandedBy, ActionId_t actionId,
                                     store_address_t dataAddress) {
+  bool hasAdditionalData = false;
   const uint8_t* dataPtr = nullptr;
   size_t size = 0;
-  ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
-  if (result != returnvalue::OK) {
-    CommandMessage reply;
-    ActionMessage::setStepReply(&reply, actionId, 0, result);
-    queueToUse->sendMessage(commandedBy, &reply);
-    return;
+  ReturnValue_t result;
+  if(dataAddress != store_address_t::invalid()) {
+    hasAdditionalData = true;
+    ReturnValue_t result = ipcStore->getData(dataAddress, &dataPtr, &size);
+    if (result != returnvalue::OK) {
+      CommandMessage reply;
+      ActionMessage::setStepReply(&reply, actionId, 0, result);
+      queueToUse->sendMessage(commandedBy, &reply);
+      return;
+    }
   }
   result = owner->executeAction(actionId, commandedBy, dataPtr, size);
-  ipcStore->deleteData(dataAddress);
+  if(hasAdditionalData) {
+    ipcStore->deleteData(dataAddress);
+  }
   if (result == HasActionsIF::EXECUTION_FINISHED) {
     CommandMessage reply;
     ActionMessage::setCompletionReply(&reply, actionId, true, result);