void setLidarConfigCallback()

in sensor_fusion_pkg/src/sensor_fusion_node.cpp [409:448]
36 lines of code
7 McCabe index (conditional complexity)

        void setLidarConfigCallback(const std::shared_ptr<rmw_request_id_t> request_header,
                                     std::shared_ptr<deepracer_interfaces_pkg::srv::LidarConfigSrv::Request> req,
                                     std::shared_ptr<deepracer_interfaces_pkg::srv::LidarConfigSrv::Response> res) {
            try {
                (void)request_header; 
                if(req->min_angle > req->max_angle ||
                   req->min_distance > req->max_distance ||
                   req->min_distance > req->clipping_distance ||
                   req->num_values < 1){
                    RCLCPP_ERROR(this->get_logger(), "Incorrect lidar configuration values.");
                    res->error = 1;
                    return;
                }
                // Check if the preprocessing is valid
                if(req->preprocess_type < 0 || req->preprocess_type >= numLidarPreprocessingType){
                    RCLCPP_ERROR(this->get_logger(), "Incorrect lidar preprocess type");
                    res->error = 1;
                    return;
                }
                sensorConfiguration_[LIDAR_KEY][LIDAR_CONFIG_MIN_LIDAR_ANGLE_KEY] = req->min_angle;
                sensorConfiguration_[LIDAR_KEY][LIDAR_CONFIG_MAX_LIDAR_ANGLE_KEY] = req->max_angle;
                sensorConfiguration_[LIDAR_KEY][LIDAR_CONFIG_MIN_LIDAR_DIST_KEY] = req->min_distance;
                sensorConfiguration_[LIDAR_KEY][LIDAR_CONFIG_MAX_LIDAR_DIST_KEY] = req->max_distance;
                sensorConfiguration_[LIDAR_KEY][LIDAR_CONFIG_NUM_LIDAR_VALUES_KEY] = req->num_values;
                sensorConfiguration_[LIDAR_KEY][LIDAR_CONFIG_LIDAR_CLIPPING_DIST_KEY] = req->clipping_distance;
                sensorConfiguration_[LIDAR_KEY][LIDAR_CONFIG_NUM_LIDAR_SECTORS_KEY] = req->num_sectors;
                sensorConfiguration_[LIDAR_KEY][LIDAR_CONFIG_PREPROCESS_TYPE_KEY] = req->preprocess_type;
                
                // Select the minimum of the clipping distance and max_lidar_distance as upper bound of the range
                maxLiDARDist_ = std::min(sensorConfiguration_[LIDAR_KEY][LIDAR_CONFIG_MAX_LIDAR_DIST_KEY],
                                         sensorConfiguration_[LIDAR_KEY][LIDAR_CONFIG_LIDAR_CLIPPING_DIST_KEY]);
                RCLCPP_INFO(this->get_logger(), "Setting the lidar configuration values for the model");
                res->error = 0;
                return;
            }
            catch (const std::exception &ex) {
                RCLCPP_ERROR(this->get_logger(), "setLidarConfigCallback failed: %s", ex.what());
            }

         }