void init()

in ctrl_pkg/src/ctrl_node.cpp [168:180]

• 13 lines of code
• 2 McCabe index (conditional complexity)

        void init(){
            if(!initialized_){
                stateList_ = { {autonomous, std::make_shared<SysCtrl::AutoDriveCtrl>(this->shared_from_this(), AUTO_DRIVE_TOPIC)},
                           {manual, std::make_shared<SysCtrl::ManualDriveCtrl>(this->shared_from_this(), MANUAL_DRIVE_TOPIC)},
                           {calibration, std::make_shared<SysCtrl::CalibrationCtrl>(this->shared_from_this(), CALIBRATION_DRIVE_TOPIC)} };
                activeState_ = stateList_.find(manual);
                activeState_->second->setStateActive(true);
                initialized_ = true;
                timer_->cancel();
                waitForServices();
                enableVideo();
            }
        }