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Remove undefined behavior from the startup conditions #132

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merged 3 commits into from
Sep 24, 2024
Merged

Remove undefined behavior from the startup conditions #132

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2afb548
Remove undefined behavior from the startup conditions
mxgrey Sep 23, 2024
792977a
Tweak style
mxgrey Sep 23, 2024
856d63e
Tweak style again
mxgrey Sep 23, 2024
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10 changes: 8 additions & 2 deletions rmf_building_sim_gz_plugins/src/lift.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -145,6 +145,7 @@ class LiftPlugin
}
}
lift_command.destination_floor = initial_floor;
lift_command.door_state = DoorModeCmp::CLOSE;
_last_lift_command[entity] = lift_command;

std::vector<double> joint_position = {target_elevation};
Expand Down Expand Up @@ -338,6 +339,7 @@ class LiftPlugin
{
continue;
}

if (door_state_comp->Data() != cmd)
return false;
}
Expand Down Expand Up @@ -455,8 +457,12 @@ class LiftPlugin
cur_lift_cmd.request_type != msg->request_type ||
cur_lift_cmd.session_id != msg->session_id)
{
gzwarn << "Discarding request: [" << msg->lift_name <<
"] is busy at the moment" << std::endl;
gzwarn << "Discarding request to go to ["
<< msg->destination_floor
<< "] for [" << msg->session_id << "]. Lift ["
<< msg->lift_name << "] is busy going to ["
<< cur_lift_cmd.destination_floor << "] for ["
<< cur_lift_cmd.session_id << "]" << std::endl;
return;
}
}
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