void ServoMgr::writeCalJSON()

in servo_pkg/src/servo_mgr.cpp [200:221]

• 20 lines of code
• 5 McCabe index (conditional complexity)

    void ServoMgr::writeCalJSON(const std::unordered_map<int, std::unordered_map<std::string, int>> &calibrationMap,
                    const std::string &filePath) {
        Json::Value calJsonValue;

        auto itServo = calibrationMap.find(servo);
        auto itMotor = calibrationMap.find(motor);

        if (itServo != calibrationMap.end() && itMotor != calibrationMap.end()) {
            for (auto servoMap : itServo->second) {
                calJsonValue[HEADER_KEY][SERVO_KEY][servoMap.first] = servoMap.second;
            }
        for (auto motorMap : itMotor->second) {
                calJsonValue[HEADER_KEY][MOTOR_KEY][motorMap.first] = motorMap.second;
            }
        calJsonValue[HEADER_KEY][VERSION_KEY] = CAL_FILE_VERSION;
        }
        else {
            RCLCPP_ERROR(logger_, "Invalid calibration map");
            return;
        }
        writeJSONToFile(calJsonValue, filePath);
    }