Merge pull request #1 from Mecapitronic/fix-codesmell-nested-ifs-S134

avoid nested ifs to reduce cognitive complexity

Author: Godeffroy

src/LedRGB.cpp

@@ -22,7 +22,7 @@ void LedRGB::Update()
 
 void LedRGB::HandleCommand(Command cmd)
 {
-    //if (cmd.cmd == ("RGB"))
+    //if (cmd.cmd == "RGB")
     //{
         // RGB:0;0;0
     //    print("RGB : ", cmd.data[0]);

src/Motor.cpp

@@ -87,30 +87,26 @@ void Motor::Update(float linear_speed_mms, float linear_direction_rad, float ang
 
 void Motor::HandleCommand(Command cmd)
 {
-
-    if (cmd.cmd.startsWith("Motor"))
+    if (cmd.cmd == "Motor" && cmd.size == 3)
     {
-        if (cmd.cmd == ("Motor") && cmd.size == 3)
+        // Motor:1;1000;50
+        // Motor:1;1;50
+        if (cmd.data[2] < 0 || 100 < cmd.data[2])
         {
-            // Motor:1;1000;50
-            // Motor:1;1;50
-            if (cmd.data[2] >= 0 && cmd.data[2] <= 100)
-            {
-                print("Motor ", cmd.data[0]);
-                print(" with freq ", cmd.data[1], " Hz");
-                println(" with duty ", cmd.data[2], " %");
-                if (cmd.data[0] == 1)
-                    stepper1->setPWM(cmd.data[1], cmd.data[2]);
-                if (cmd.data[0] == 2)
-                    stepper2->setPWM(cmd.data[1], cmd.data[2]);
-                if (cmd.data[0] == 3 && motorBaseType == OMNIDIRECTIONAL_3_MOTORS)
-                    stepper3->setPWM(cmd.data[1], cmd.data[2]);
-            }
-        }
-        else
-        {
-            println("Not a Motor Command ");
+            println("Invalid Duty Cycle");
+            return;
         }
+
+        print("Motor ", cmd.data[0]);
+        print(" with freq ", cmd.data[1], " Hz");
+        println(" with duty ", cmd.data[2], " %");
+        
+        if (cmd.data[0] == 1)
+            stepper1->setPWM(cmd.data[1], cmd.data[2]);
+        if (cmd.data[0] == 2)
+            stepper2->setPWM(cmd.data[1], cmd.data[2]);
+        if (cmd.data[0] == 3 && motorBaseType == OMNIDIRECTIONAL_3_MOTORS)
+            stepper3->setPWM(cmd.data[1], cmd.data[2]);
     }
 }
 

src/OTOS.cpp

@@ -153,7 +153,7 @@ void OpticalTrackingOdometrySensor::Update()
 
 void OpticalTrackingOdometrySensor::HandleCommand(Command cmd)
 {
-    //if (cmd.cmd == ("Otos"))
+    //if (cmd.cmd == "Otos")
     //{
         // Otos:0;0
     //    print("Otos : ", cmd.data[0]);

src/main.cpp

@@ -200,15 +200,15 @@ void loop()
   {
     Command cmd = ESP32_Helper::GetCommand();
 
-    if (cmd.cmd.startsWith("Help"))
+    otos.HandleCommand(cmd);
+    motor.HandleCommand(cmd);
+
+    if (cmd.cmd == "Help")
     {
       otos.PrintCommandHelp();
       motor.PrintCommandHelp();
     }
-    otos.HandleCommand(cmd);
-    motor.HandleCommand(cmd);
-
-    if (cmd.cmd == ("GoToPose") && cmd.size == 3)
+    else if (cmd.cmd == "GoToPose" && cmd.size == 3)
     {
       // GoToPose:500;500;0
       // GoToPose:50;50;0
@@ -223,7 +223,7 @@ void loop()
       print(" h=", goTo.h);
       println();
     }
-    if (cmd.cmd == ("SetPose") && cmd.size == 3)
+    else if (cmd.cmd == "SetPose" && cmd.size == 3)
     {
       // SetPose:500;500;0
       DisableTimerMotion();
@@ -238,7 +238,7 @@ void loop()
       println();
       EnableTimerMotion();
     }
-    if(cmd.cmd == ("PF") && cmd.size == 1)
+    else if(cmd.cmd == "PF" && cmd.size == 1)
     {
       // PathFinding
       // PF:5
@@ -251,21 +251,20 @@ void loop()
       {
         print("PF Not Found");
       }
-    }
-    
-    if(cmd.cmd == ("VertexList") && cmd.size == 0)
+    }    
+    else if(cmd.cmd == "VertexList")
     {
       Mapping::PrintVertexList();
     }
-    if(cmd.cmd == ("SegmentList") && cmd.size == 0)
+    else if(cmd.cmd == "SegmentList")
     {
       Mapping::PrintSegmentList();
     }
-    if(cmd.cmd == ("CircleList") && cmd.size == 0)
+    else if(cmd.cmd == "CircleList")
     {
       Mapping::PrintCircleList();
     }
-    if(cmd.cmd == ("MappingList") && cmd.size == 0)
+    else if(cmd.cmd == "MappingList")
     {
       Mapping::PrintVertexList();
       Mapping::PrintSegmentList();