def api_manual_drive()

in webserver_pkg/webserver_pkg/vehicle_control.py [0:0]

• 22 lines of code
• 8 McCabe index (conditional complexity)

def api_manual_drive():
    """API that publishes control messages to control the angle and throttle in
       manual drive mode.

    Returns:
        dict: Execution status if the API call was successful.
    """
    webserver_node = webserver_publisher_node.get_webserver_node()
    angle = request.json.get("angle")
    throttle = request.json.get("throttle")
    max_speed = request.json.get("max_speed")

    if angle is None:
        return api_fail("angle is required")
    if throttle is None:
        return api_fail("throttle is required")
    if max_speed is None:
        return api_fail("max_speed is required")

    if angle < -1.0 or angle > 1.0:
        return api_fail("angle out of range")
    if throttle < -1.0 or throttle > 1.0:
        return api_fail("throttle out of range")

    webserver_node.get_logger().info(f"Angle: {angle}  Throttle: {throttle}")

    # Create the servo message.
    msg = ServoCtrlMsg()
    # bound the throttle value based on the categories defined
    msg.angle = -1.0 * get_categorized_manual_angle(angle)
    categorized_throttle = get_categorized_manual_throttle(throttle)
    msg.throttle = -1.0 * get_rescaled_manual_speed(categorized_throttle, max_speed)
    webserver_node.pub_manual_drive.publish(msg)
    return jsonify({"success": True})