remove bool from get optional

Yara Shahin · Yara Shahin · commit 67045a908b58 · 2025-10-07T16:47:05.000+03:00
diff --git a/battery_state_broadcaster/src/battery_state_broadcaster.cpp b/battery_state_broadcaster/src/battery_state_broadcaster.cpp
@@ -364,15 +364,8 @@ controller_interface::return_type BatteryStateBroadcaster::update(
       }
       if (interfaces.battery_present)
       {
-        auto opt = state_interfaces_[interface_cnt].get_optional<bool>();
-        if (opt.has_value())
-        {
-          raw_battery_states_msg.battery_states[i].present = opt->value();
-        }
-        else
-        {
-          raw_battery_states_msg.battery_states[i].present = false;
-        }
+        raw_battery_states_msg.battery_states[i].present =
+          state_interfaces_[interface_cnt].get_optional().value_or(false);
         interface_cnt++;
       }
       else

Original file line number	Diff line number	Diff line change
`@@ -364,15 +364,8 @@ controller_interface::return_type BatteryStateBroadcaster::update(`
`364`	`364`	`}`
`365`	`365`	`if (interfaces.battery_present)`
`366`	`366`	`{`
`367`		`- auto opt = state_interfaces_[interface_cnt].get_optional<bool>();`
`368`		`- if (opt.has_value())`
`369`		`- {`
`370`		`- raw_battery_states_msg.battery_states[i].present = opt->value();`
`371`		`- }`
`372`		`- else`
`373`		`- {`
`374`		`- raw_battery_states_msg.battery_states[i].present = false;`
`375`		`- }`
	`367`	`+ raw_battery_states_msg.battery_states[i].present =`
	`368`	`+ state_interfaces_[interface_cnt].get_optional().value_or(false);`
`376`	`369`	`interface_cnt++;`
`377`	`370`	`}`
`378`	`371`	`else`