void writeSensorConfigJSON()

in sensor_fusion_pkg/src/sensor_fusion_node.cpp [453:478]

• 24 lines of code
• 6 McCabe index (conditional complexity)

        void writeSensorConfigJSON(const std::unordered_map<std::string, std::unordered_map<std::string, float>> &sensorConfiguration,
                                   const std::string &filePath) {
            try {
                Json::Value sensorConfigJsonValue;
                auto itLidarConfig = sensorConfiguration.find(LIDAR_KEY);
                auto itLidarOverlayConfig = sensorConfiguration.find(LIDAR_OVERLAY_KEY);

                if (itLidarConfig != sensorConfiguration.end() && itLidarOverlayConfig != sensorConfiguration.end()) {
                    for (auto lidarConfigMap : itLidarConfig->second) {
                        sensorConfigJsonValue[LIDAR_KEY][lidarConfigMap.first] = lidarConfigMap.second;
                    }
                    for (auto lidarOverlayConfigMap : itLidarOverlayConfig->second) {
                        sensorConfigJsonValue[LIDAR_OVERLAY_KEY][lidarOverlayConfigMap.first] = lidarOverlayConfigMap.second;
                    }
                }
                else {
                    RCLCPP_ERROR(this->get_logger(), "Invalid sensor configuration map");
                    return;
                }
                writeJSONToFile(sensorConfigJsonValue, filePath);
            }
            catch (const std::exception &ex) {
                RCLCPP_ERROR(this->get_logger(), "writeSensorConfigJSON failed: %s", ex.what());
            }

        }