From 60f6ef5f1f9c8fdf7071085fc190bfb90dd960e1 Mon Sep 17 00:00:00 2001
From: Robin Mueller <robin.mueller.m@gmail.com>
Date: Fri, 1 Sep 2023 12:18:55 +0200
Subject: [PATCH] ActionHelper update

---
 CHANGELOG.md                          | 10 +++-------
 src/fsfw/action/ActionHelper.cpp      | 21 ++++++++++++++-------
 src/fsfw/action/CommandActionHelper.h |  4 ++--
 3 files changed, 19 insertions(+), 16 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 66e8c0d2..4b2d9bb2 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -27,8 +27,10 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - add CFDP subsystem ID
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/742
+- `EventManager`: Add function to print all listeners.
 
 ## Changed
+
 - Bump ETL version to 20.35.14
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/748
 - Renamed `PCDU_2` subsystem ID to `POWER_SWITCH_IF`.
@@ -37,14 +39,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/743
 - Assert that `FixedArrayList` is larger than 0 at compile time.
   https://egit.irs.uni-stuttgart.de/fsfw/fsfw/pulls/740
-
-## Added
-
-- `EventManager`: Add function to print all listeners.
-
-## Changed
-
 - `EventManager`: Queue depth is configurable now
+- `ActionHelper`: Allow execution of actions without additional data
 
 # [v6.0.0] 2023-02-10
 
diff --git a/src/fsfw/action/ActionHelper.cpp b/src/fsfw/action/ActionHelper.cpp
index fd6c8afb..81a1a727 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);
diff --git a/src/fsfw/action/CommandActionHelper.h b/src/fsfw/action/CommandActionHelper.h
index 55176e09..ac8ed1ba 100644
--- a/src/fsfw/action/CommandActionHelper.h
+++ b/src/fsfw/action/CommandActionHelper.h
@@ -16,8 +16,8 @@ class CommandActionHelper {
  public:
   explicit CommandActionHelper(CommandsActionsIF* owner);
   virtual ~CommandActionHelper();
-  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, const uint8_t* data,
-                              uint32_t size);
+  ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId,
+                              const uint8_t* data = nullptr, uint32_t size = 0);
   ReturnValue_t commandAction(object_id_t commandTo, ActionId_t actionId, SerializeIF* data);
   ReturnValue_t initialize();
   ReturnValue_t handleReply(CommandMessage* reply);