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Fixed an error where the service request to get all faults with include_muted=false also returned the muted faults. #414

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Merged
bburda merged 1 commit into from
Jun 10, 2026
Merged

Fixed an error where the service request to get all faults with include_muted=false also returned the muted faults. #414

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17 changes: 16 additions & 1 deletion src/ros2_medkit_fault_manager/src/fault_manager_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -476,9 +476,10 @@ void FaultManagerNode::handle_list_faults(
response->muted_count = correlation_engine_->get_muted_count();
response->cluster_count = correlation_engine_->get_cluster_count();

auto muted_faults = correlation_engine_->get_muted_faults();

// Include muted faults details if requested
if (request->include_muted) {
auto muted_faults = correlation_engine_->get_muted_faults();
response->muted_faults.reserve(muted_faults.size());
for (const auto & muted : muted_faults) {
ros2_medkit_msgs::msg::MutedFaultInfo info;
Expand All @@ -488,6 +489,20 @@ void FaultManagerNode::handle_list_faults(
info.delay_ms = muted.delay_ms;
response->muted_faults.push_back(info);
}
} else {
// Build a set of muted codes for O(1) lookup.
std::unordered_set<std::string> muted_codes;
for (const auto & muted : muted_faults) {
muted_codes.insert(muted.fault_code);
}

// Remove all faults whose code is muted, in one pass.
auto & faults = response->faults;
faults.erase(std::remove_if(faults.begin(), faults.end(),
[&muted_codes](const ros2_medkit_msgs::msg::Fault & fault) {
return muted_codes.count(fault.fault_code) > 0;
}),
faults.end());
}

// Include cluster details if requested
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