void GazeboRosGps::dynamicReconfigureCallback()

in simulation_ws/src/rover/hector_gazebo_plugins/src/gazebo_ros_gps.cpp [185:208]

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

void GazeboRosGps::dynamicReconfigureCallback(GazeboRosGps::GNSSConfig &config, uint32_t level)
{
  using sensor_msgs::NavSatStatus;
  if (level == 1) {
    if (!config.STATUS_FIX) {
      fix_.status.status = NavSatStatus::STATUS_NO_FIX;
    } else {
      fix_.status.status = (config.STATUS_SBAS_FIX ? NavSatStatus::STATUS_SBAS_FIX : 0) |
                           (config.STATUS_GBAS_FIX ? NavSatStatus::STATUS_GBAS_FIX : 0);
    }
    fix_.status.service = (config.SERVICE_GPS     ? NavSatStatus::SERVICE_GPS : 0) |
                          (config.SERVICE_GLONASS ? NavSatStatus::SERVICE_GLONASS : 0) |
                          (config.SERVICE_COMPASS ? NavSatStatus::SERVICE_COMPASS : 0) |
                          (config.SERVICE_GALILEO ? NavSatStatus::SERVICE_GALILEO : 0);
  } else {
    config.STATUS_FIX      = (fix_.status.status != NavSatStatus::STATUS_NO_FIX);
    config.STATUS_SBAS_FIX = (fix_.status.status & NavSatStatus::STATUS_SBAS_FIX);
    config.STATUS_GBAS_FIX = (fix_.status.status & NavSatStatus::STATUS_GBAS_FIX);
    config.SERVICE_GPS     = (fix_.status.service & NavSatStatus::SERVICE_GPS);
    config.SERVICE_GLONASS = (fix_.status.service & NavSatStatus::SERVICE_GLONASS);
    config.SERVICE_COMPASS = (fix_.status.service & NavSatStatus::SERVICE_COMPASS);
    config.SERVICE_GALILEO = (fix_.status.service & NavSatStatus::SERVICE_GALILEO);
  }
}