Missing `else` condition

[Ted Miller]

A user has found a missing else condition. This leads to an improper response to an unknown message type.

motoman/motoman_driver/MotoPlus/SimpleMessage.c

Line 153 in 7860ff5

 if (receiveMsg->header.msgType == ROS_MSG_MOTO_SELECT_TOOL) 

[G.A. vd. Hoorn]

Isn't the actual consequence the else will always be taken if receiveMsg->header.msgType != ROS_MSG_MOTO_SELECT_TOOL?

So

motoman/motoman_driver/MotoPlus/SimpleMessage.c

Lines 160 to 162 in 7860ff5

 replyMsg->body.motionReply.groupNo = -1; 
 replyMsg->body.motionReply.sequence = -1; 
 replyMsg->body.motionReply.command = receiveMsg->header.msgType; 

will always be executed?

[Eric Marcil]

Without the "else" on line 153, all the preceeding code (line 138 to 152) is pointless because whatever is set in that code gets overwritten by line 161 and 162.

[G.A. vd. Hoorn]

Yes. That is what I wrote.

But only if msgType != ROS_MSG_MOTO_SELECT_TOOL.

[Ted Miller]

Isn't the actual consequence the else will always be taken if receiveMsg->header.msgType != ROS_MSG_MOTO_SELECT_TOOL?

Yes, you're correct. Now that I think about it some more... this might explain some wireshark captures that I've seen in the past that had unexpected sequence-id's in the reply. (I don't remember for certain. But I think I've seen this and just ignored it.)

[G.A. vd. Hoorn]

Closing as #550 was merged (replacement PR).