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[CM] Linting if/else statements #1193

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merged 4 commits into from
Dec 12, 2023
Merged

[CM] Linting if/else statements #1193

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d05137d
[CM] Linting if/else statements
destogl Dec 4, 2023
059f8fd
Update controller_manager/src/controller_manager.cpp
bmagyar Dec 11, 2023
2e0079b
Merge branch 'master' into patch-1
destogl Dec 11, 2023
71f3bac
fix format
bmagyar Dec 12, 2023
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14 changes: 9 additions & 5 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2443,7 +2443,10 @@ bool ControllerManager::controller_sorting(
if (!((is_controller_active(ctrl_a.c) || is_controller_inactive(ctrl_a.c)) &&
(is_controller_active(ctrl_b.c) || is_controller_inactive(ctrl_b.c))))
{
if (is_controller_active(ctrl_a.c) || is_controller_inactive(ctrl_a.c)) return true;
if (is_controller_active(ctrl_a.c) || is_controller_inactive(ctrl_a.c))
{
return true;
}
return false;
}

Expand All @@ -2454,10 +2457,9 @@ bool ControllerManager::controller_sorting(
// The case of the controllers that don't have any command interfaces. For instance,
// joint_state_broadcaster
// If the controller b is also under the same condition, then maintain their initial order
if (ctrl_b.c->command_interface_configuration().names.empty() || !ctrl_b.c->is_chainable())
return false;
else
return true;
const auto command_interfaces_exist =
!ctrl_b.c->command_interface_configuration().names.empty();
return ctrl_b.c->is_chainable() && command_interfaces_exist;
}
else if (ctrl_b.c->command_interface_configuration().names.empty() || !ctrl_b.c->is_chainable())
{
Expand All @@ -2472,7 +2474,9 @@ bool ControllerManager::controller_sorting(
if (
std::find(following_ctrls.begin(), following_ctrls.end(), ctrl_b.info.name) !=
following_ctrls.end())
{
return true;
}
else
{
auto ctrl_a_preceding_ctrls = get_preceding_controller_names(ctrl_a.info.name, controllers);
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