From 84e9b9a7aea66b395108d80c3a3fd0165ab6c01f Mon Sep 17 00:00:00 2001
From: "Timur A. Fatkhullin" <timur@sao.ru>
Date: Fri, 20 Feb 2026 12:08:46 +0300
Subject: [PATCH] ...

---
 asibfm700_mount.cpp           | 12 ++++++++++++
 asibfm700_mount.h             |  1 +
 asibfm700_netserver.cpp       | 18 +++++++++++++++---
 asibfm700_netserver.h         | 12 +++++++++---
 asibfm700_servocontroller.cpp |  5 +++--
 5 files changed, 40 insertions(+), 8 deletions(-)

diff --git a/asibfm700_mount.cpp b/asibfm700_mount.cpp
index 788cbcf..8f79353 100644
--- a/asibfm700_mount.cpp
+++ b/asibfm700_mount.cpp
@@ -323,6 +323,18 @@ Asibfm700Mount::error_t Asibfm700Mount::updateMountConfig(const Asibfm700MountCo
 }
 
 
+Asibfm700Mount::error_t Asibfm700Mount::updateMountConfig(const std::string& cfg_filename)
+{
+    Asibfm700MountConfig new_config;
+    auto err = new_config.load(cfg_filename);
+    if (err) {
+        return mcc::mcc_deduced_err(err, std::make_error_code(std::errc::file_exists));
+    }
+
+    return updateMountConfig(new_config);
+}
+
+
 /*    PROTECTED METHODS    */
 
 void Asibfm700Mount::errorLogging(const std::string& msg, const std::error_code& err)
diff --git a/asibfm700_mount.h b/asibfm700_mount.h
index d0373f7..d8b93ba 100644
--- a/asibfm700_mount.h
+++ b/asibfm700_mount.h
@@ -59,6 +59,7 @@ public:
     error_t initMount();
 
     error_t updateMountConfig(Asibfm700MountConfig const&);
+    error_t updateMountConfig(std::string const&);
     Asibfm700MountConfig currentMountConfig();
 
 protected:
diff --git a/asibfm700_netserver.cpp b/asibfm700_netserver.cpp
index 3e7fef2..61f588c 100644
--- a/asibfm700_netserver.cpp
+++ b/asibfm700_netserver.cpp
@@ -56,9 +56,21 @@ Asibfm700MountNetServer::Asibfm700MountNetServer(asio::io_context& ctx,
 
                 output_msg.construct(mcc::network::MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR,
                                      ASIBFM700_COMMPROTO_KEYWORD_SITEGEO_STR, lon, lat);
-            }
-
-            else {
+            } else if (input_msg.withKey(ASIBFM700_COMMPROTO_KEYWORD_RELOADCFG_STR)) {
+                if (input_msg.paramSize()) {
+                    auto vp = input_msg.paramValue<std::string>(0);
+                    auto err = mount_ptr->updateMountConfig(vp.value());
+                    if (err) {
+                        output_msg.construct(mcc::network::MCC_COMMPROTO_KEYWORD_SERVER_ERROR_STR, err);
+                    } else {
+                        output_msg.construct(mcc::network::MCC_COMMPROTO_KEYWORD_SERVER_ACK_STR,
+                                             ASIBFM700_COMMPROTO_KEYWORD_RELOADCFG_STR);
+                    }
+                } else {  // a filename must be given
+                    output_msg.construct(mcc::network::MCC_COMMPROTO_KEYWORD_SERVER_ERROR_STR,
+                                         std::make_error_code(std::errc::invalid_argument));
+                }
+            } else {
                 // basic network message processing
                 output_msg = base_t::handleMessage<output_msg_t>(input_msg, mount_ptr);
             }
diff --git a/asibfm700_netserver.h b/asibfm700_netserver.h
index 0f1297c..e907efe 100644
--- a/asibfm700_netserver.h
+++ b/asibfm700_netserver.h
@@ -91,13 +91,19 @@ static constexpr auto merge_arrays(const std::array<VT, N1>& arr1, const std::ar
 
 // meteo parameters (ambient air temperature, humidity and atmosperic pressure)
 constexpr static std::string_view ASIBFM700_COMMPROTO_KEYWORD_METEO_STR{"METEO"};
+
 // current site geodetic longtude and latitude
 constexpr static std::string_view ASIBFM700_COMMPROTO_KEYWORD_SITEGEO_STR{"SITEGEO"};
 
+// reload mount configuration file
+constexpr static std::string_view ASIBFM700_COMMPROTO_KEYWORD_RELOADCFG_STR{"RELOADCFG"};
+
+
 struct Asibfm700NetMessageValidKeywords {
-    static constexpr std::array NETMSG_VALID_KEYWORDS = details::merge_arrays(
-        mcc::network::MccNetMessageValidKeywords::NETMSG_VALID_KEYWORDS,
-        std::array{ASIBFM700_COMMPROTO_KEYWORD_METEO_STR, ASIBFM700_COMMPROTO_KEYWORD_SITEGEO_STR});
+    static constexpr std::array NETMSG_VALID_KEYWORDS =
+        details::merge_arrays(mcc::network::MccNetMessageValidKeywords::NETMSG_VALID_KEYWORDS,
+                              std::array{ASIBFM700_COMMPROTO_KEYWORD_METEO_STR, ASIBFM700_COMMPROTO_KEYWORD_SITEGEO_STR,
+                                         ASIBFM700_COMMPROTO_KEYWORD_RELOADCFG_STR});
 
     // hashes of valid keywords
     static constexpr std::array NETMSG_VALID_KEYWORD_HASHES = []<size_t... Is>(std::index_sequence<Is...>) {
diff --git a/asibfm700_servocontroller.cpp b/asibfm700_servocontroller.cpp
index 936afb1..093c8f1 100644
--- a/asibfm700_servocontroller.cpp
+++ b/asibfm700_servocontroller.cpp
@@ -159,13 +159,14 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareSetState(har
     // according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
     coordval_pair_t cvalpair{.X{.val = state.XY.y(), .t = tp}, .Y{.val = state.XY.x(), .t = tp}};
 
+    coordpair_t cp{.X = state.XY.y(), .Y = state.XY.x()};
 
     // correctTo is asynchronous function!!!
     //
     // according to the Eddy's implementation of the LibSidServo library it is safe
     // to pass the addresses of 'cvalpair' and 'cpair' automatic variables
-    // auto err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.correctTo(&cvalpair, &cpair));
-    auto err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.correctTo(&cvalpair));
+    auto err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.moveTo(&cp));
+    // auto err = static_cast<AsibFM700ServoControllerErrorCode>(Mount.correctTo(&cvalpair));
 
     return err;
 }