fix(autonomous_emergency_braking): fix invalid access to imu_ptr (#7171)

soblin · web-flow · commit 9dcf81ec79c7 · 2024-05-30T07:03:19.000Z
Signed-off-by: Mamoru Sobue &lt;mamoru.sobue@tier4.jp&gt;
diff --git a/control/autonomous_emergency_braking/src/node.cpp b/control/autonomous_emergency_braking/src/node.cpp
@@ -301,10 +301,13 @@ bool AEB::fetchLatestData()
   }
 
   const auto imu_ptr = sub_imu_.takeData();
-  if (use_imu_path_ && !imu_ptr) {
-    return missing("imu message");
+  if (use_imu_path_) {
+    if (!imu_ptr) {
+      return missing("imu message");
+    }
+    // imu_ptr is valid
+    onImu(imu_ptr);
   }
-  onImu(imu_ptr);
   if (use_imu_path_ && !angular_velocity_ptr_) {
     return missing("imu");
   }

Original file line number	Diff line number	Diff line change
`@@ -301,10 +301,13 @@ bool AEB::fetchLatestData()`
`301`	`301`	`}`
`302`	`302`
`303`	`303`	`const auto imu_ptr = sub_imu_.takeData();`
`304`		`- if (use_imu_path_ && !imu_ptr) {`
`305`		`- return missing("imu message");`
	`304`	`+ if (use_imu_path_) {`
	`305`	`+ if (!imu_ptr) {`
	`306`	`+ return missing("imu message");`
	`307`	`+ }`
	`308`	`+ // imu_ptr is valid`
	`309`	`+ onImu(imu_ptr);`
`306`	`310`	`}`
`307`		`- onImu(imu_ptr);`
`308`	`311`	`if (use_imu_path_ && !angular_velocity_ptr_) {`
`309`	`312`	`return missing("imu");`
`310`	`313`	`}`