void videoProducerStateHdl()

in camera_pkg/src/camera_node.cpp [111:135]

• 23 lines of code
• 6 McCabe index (conditional complexity)

        void videoProducerStateHdl(const std::shared_ptr<rmw_request_id_t> request_header,
                                   const std::shared_ptr<deepracer_interfaces_pkg::srv::VideoStateSrv::Request> req,
                                   std::shared_ptr<deepracer_interfaces_pkg::srv::VideoStateSrv::Response> res) {
            (void)request_header;
            // Stop the stream on request.
            produceFrames_ = false;
            if (videoWorker_.joinable()) {
                videoWorker_.join();
            }
            int i = 0;
            // Check that we are collecting from the mjpeg channel.
            for (auto& cap :  videoCaptureList_) {
                if(!cap.isOpened() || cap.get(cv::CAP_PROP_FOURCC) != cv::VideoWriter::fourcc('M', 'J', 'P', 'G')) {
                    RCLCPP_ERROR(this->get_logger(), "Unable to get MJPEG stream: %d", videoIndexList_[i]);
                    res->error = 1;
                    return;
                }
                ++i;
            }
            if (req->activate_video) {
                produceFrames_ = true;
                videoWorker_ = std::thread([&]{produceFrames();});
            }
            res->error = 0;
        }