void getCarCalHdl()

in ctrl_pkg/src/ctrl_node.cpp [311:329]

• 19 lines of code
• 3 McCabe index (conditional complexity)

        void getCarCalHdl(const std::shared_ptr<rmw_request_id_t> request_header,
                          std::shared_ptr<deepracer_interfaces_pkg::srv::GetCalibrationSrv::Request> req,
                          std::shared_ptr<deepracer_interfaces_pkg::srv::GetCalibrationSrv::Response> res) {
            (void)request_header;
            std::vector<int> cal;
            if (activeState_ == stateList_.end()) {
                RCLCPP_ERROR(this->get_logger(), "No active state");
                return;
            }
            activeState_->second->getCalibration(req->cal_type, cal);
            if (cal.size() != ServoCalType::total) {
                RCLCPP_ERROR(this->get_logger(), "Failed to retrieve calibrations");
                return ;
            }
            res->max = cal[ServoCalType::max];
            res->mid = cal[ServoCalType::mid];
            res->min = cal[ServoCalType::min];
            res->polarity = cal[ServoCalType::polarity];
        }