feat(autoware_accel_brake_map_calibrator): conditional actuation data…

… processing based on source (autowarefoundation#8593) * fix: Conditional Actuation Data Processing Based on Source Signed-off-by: N-Eiki <[email protected]> * style(pre-commit): autofix * delete extra comentout, indent Signed-off-by: N-Eiki <[email protected]> * add take validation Signed-off-by: N-Eiki <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: N-Eiki <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Aug 30, 2024 · 7bb1158 · 7bb1158
1 parent bab8174
commit 7bb1158
Showing 1 changed file with 8 additions and 7 deletions.
diff --git a/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp b/vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp
@@ -266,15 +266,16 @@ bool AccelBrakeMapCalibrator::get_current_pitch_from_tf(double * pitch)
 bool AccelBrakeMapCalibrator::take_data()
 {
   // take data from subscribers
-  // take actuation data
-  ActuationStatusStamped::ConstSharedPtr actuation_status_ptr = actuation_status_sub_.takeData();
-  ActuationCommandStamped::ConstSharedPtr actuation_cmd_ptr = actuation_cmd_sub_.takeData();
-  if (actuation_status_ptr) {
+  if (accel_brake_value_source_ == ACCEL_BRAKE_SOURCE::STATUS) {
+    ActuationStatusStamped::ConstSharedPtr actuation_status_ptr = actuation_status_sub_.takeData();
+    if (!actuation_status_ptr) return false;
     take_actuation_status(actuation_status_ptr);
-  } else if (actuation_cmd_ptr) {
+  }
+  // take actuation data
+  if (accel_brake_value_source_ == ACCEL_BRAKE_SOURCE::COMMAND) {
+    ActuationCommandStamped::ConstSharedPtr actuation_cmd_ptr = actuation_cmd_sub_.takeData();
+    if (!actuation_cmd_ptr) return false;
     take_actuation_command(actuation_cmd_ptr);
-  } else {
-    return false;
   }
 
   // take velocity data