void AutoDriveCtrl::setStateActive()

in ctrl_pkg/src/ctrl_state.cpp [239:254]

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

     void AutoDriveCtrl::setStateActive(bool isActive) {
        isActive_ = isActive;
        //rl model for the task type
        if (!setInferState(0, isActive_)) {
            RCLCPP_ERROR(ctrlNode->get_logger(), "Failed to set inference state");
            return;
        }
        // Stop the servo when state is inactive
        if (!isActive_) {
            auto servoMsg = deepracer_interfaces_pkg::msg::ServoCtrlMsg();
            servoMsg.angle = 0.0;
            servoMsg.throttle = 0.0;
            servoPub_->publish(servoMsg);
            enableGPIO(servoGPIOClient_);
        }
     }