From dd02c5ffe8dc602834a9553c860bffd8358af1b2 Mon Sep 17 00:00:00 2001
From: Michael Belyaev <michael7belyaev@gmail.com>
Date: Sat, 8 Jun 2024 18:40:11 +0100
Subject: [PATCH] plz  be below 25 cmon

---
 lib/navigation/control/navigator.cpp | 13 ++++++++-----
 lib/navigation/control/navigator.hpp |  5 +++++
 2 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/lib/navigation/control/navigator.cpp b/lib/navigation/control/navigator.cpp
index fb03720d..f415b972 100644
--- a/lib/navigation/control/navigator.cpp
+++ b/lib/navigation/control/navigator.cpp
@@ -200,16 +200,19 @@ bool Navigator::subscribeAndCheck(core::MqttTopic topic)
   return true;
 }
 
+bool Navigator::subscribeToTopics()
+{
+  return subscribeAndCheck(core::MqttTopic::kKeyence)
+         && subscribeAndCheck(core::MqttTopic::kOpticalFlow)
+         && subscribeAndCheck(core::MqttTopic::kAccelerometer);
+}
+
 void Navigator::run()
 {
   publishStart();
   // Subscribe to all required topics
 
-  if (!subscribeAndCheck(core::MqttTopic::kKeyence)
-      || !subscribeAndCheck(core::MqttTopic::kOpticalFlow)
-      || !subscribeAndCheck(core::MqttTopic::kAccelerometer)) {
-    return;
-  }
+  if (!subscribeToTopics()) { return; }
 
   while (true) {
     bool sensor_data_received = false;
diff --git a/lib/navigation/control/navigator.hpp b/lib/navigation/control/navigator.hpp
index 446d56a6..f3957ac4 100644
--- a/lib/navigation/control/navigator.hpp
+++ b/lib/navigation/control/navigator.hpp
@@ -70,6 +70,11 @@ class Navigator : public INavigator {
    */
   bool subscribeAndCheck(core::MqttTopic topic);
 
+  /**
+   * @brief Subscribes to all necessary topics
+   */
+  bool subscribeToTopics();
+
  private:
   core::ILogger &logger_;
   const core::ITimeSource &time_;