Status PolymetisControllerServerImpl::GetRobotStateLog()

in polymetis/src/polymetis_server.cpp [48:70]

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

Status PolymetisControllerServerImpl::GetRobotStateLog(
    ServerContext *context, const LogInterval *interval,
    ServerWriter<RobotState> *writer) {
  // Stream until latest if end == -1
  uint end = interval->end();
  if (interval->end() == -1) {
    end = robot_state_buffer_.size() - 1;
  }

  // Stream interval from robot state buffer
  for (uint i = interval->start(); i <= end; i++) {
    RobotState *robot_state_ptr = robot_state_buffer_.get(i);
    if (robot_state_ptr != NULL) {
      writer->Write(RobotState(*robot_state_ptr));
    }

    // Break if request cancelled
    if (context->IsCancelled()) {
      break;
    }
  }
  return Status::OK;
}