chore: refactored

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
tier4 · Jan 17, 2025 · 99ccb0f · 99ccb0f
1 parent e48c43c
commit 99ccb0f
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Showing 4 changed files with 8 additions and 7 deletions.
diff --git a/nebula_common/include/nebula_common/continental/continental_ars548.hpp b/nebula_common/include/nebula_common/continental/continental_ars548.hpp
@@ -32,6 +32,11 @@ namespace drivers
 namespace continental_ars548
 {
 
+inline bool is_corner_radar(float yaw)
+{
+  return std::abs(yaw) > deg2rad(5.0) && std::abs(yaw) < deg2rad(90.0);
+}
+
 /// @brief struct for ARS548 sensor configuration
 struct ContinentalARS548SensorConfiguration : EthernetSensorConfigurationBase
 {

diff --git a/nebula_decoders/src/nebula_decoders_continental/decoders/continental_ars548_decoder.cpp b/nebula_decoders/src/nebula_decoders_continental/decoders/continental_ars548_decoder.cpp
@@ -249,9 +249,7 @@ bool ContinentalARS548Decoder::parse_objects_list_packet(
   // NOTE(knzo25): In the radar firmware used when developing this driver,
   // corner radars were not supported. When a new firmware addresses this,
   // the driver will be updated.
-  if (
-    std::abs(radar_status_.yaw) > 5.0 * M_PI / 180.0 &&
-    std::abs(radar_status_.yaw) < 90.0 * M_PI / 180.0) {
+  if (nebula::drivers::continental_ars548::is_corner_radar(radar_status_.yaw)) {
     return true;
   }
 

diff --git a/nebula_ros/src/continental/continental_ars548_decoder_wrapper.cpp b/nebula_ros/src/continental/continental_ars548_decoder_wrapper.cpp
@@ -208,9 +208,7 @@ void ContinentalARS548DecoderWrapper::sensor_status_callback(
   // NOTE(knzo25): In the radar firmware used when developing this driver,
   // corner radars were not supported. When a new firmware addresses this,
   // the driver will be updated.
-  if (
-    std::abs(sensor_status.yaw) > 5.0 * M_PI / 180.0 &&
-    std::abs(sensor_status.yaw) < 90.0 * M_PI / 180.0) {
+  if (nebula::drivers::continental_ars548::is_corner_radar(sensor_status.yaw)) {
     rclcpp::Clock clock{RCL_ROS_TIME};
     RCLCPP_WARN_THROTTLE(
       logger_, clock, 5000,

diff --git a/nebula_ros/src/continental/continental_ars548_hw_interface_wrapper.cpp b/nebula_ros/src/continental/continental_ars548_hw_interface_wrapper.cpp
@@ -219,7 +219,7 @@ void ContinentalARS548HwInterfaceWrapper::set_sensor_mounting_request_callback(
   // NOTE(knzo25): In the radar firmware used when developing this driver,
   // corner radars were not supported. When a new firmware addresses this,
   // the driver will be updated.
-  if (std::abs(yaw) > 5.0 * M_PI / 180.0 && std::abs(yaw) < 90.0 * M_PI / 180.0) {
+  if (nebula::drivers::continental_ars548::is_corner_radar(yaw)) {
     RCLCPP_WARN(
       logger_,
       "You are attempting to configure the device as a corner radar, which is not supported so "