refactor: if

Signed-off-by: kobayu858 <[email protected]>
autowarefoundation · Dec 26, 2024 · f06639e · f06639e
1 parent cc46392
commit f06639e
Showing 1 changed file with 9 additions and 3 deletions.
diff --git a/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp b/system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp
@@ -184,11 +184,17 @@ void MrmHandler::operateMrm()
     if (current_mrm_behavior == mrm_state_.behavior) {
       return;
     }
-    if (requestMrmBehavior(current_mrm_behavior, RequestType::CALL)) {
-      mrm_state_.behavior = current_mrm_behavior;
-    } else {
+    // First: cancel the previous behavior
+    if (!requestMrmBehavior(mrm_state_.behavior, RequestType::CANCEL)) {
+      handleFailedRequest();
+      return;
+    }
+    // Second: call the current behavior
+    if (!requestMrmBehavior(current_mrm_behavior, RequestType::CALL)) {
       handleFailedRequest();
+      return;
     }
+    mrm_state_.behavior = current_mrm_behavior;
     return;
   }
   if (mrm_state_.state == MrmState::MRM_SUCCEEDED) {