int main()

in cloudwatch_logger/src/main.cpp [30:123]
69 lines of code
2 McCabe index (conditional complexity)

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  rclcpp::NodeOptions node_options;
  node_options.allow_undeclared_parameters(true);
  node_options.automatically_declare_parameters_from_overrides(true);
  rclcpp::Node::SharedPtr nh = std::make_shared<rclcpp::Node>(kNodeName, node_options);

  Aws::Utils::Logging::InitializeAWSLogging(
    Aws::MakeShared<Aws::Utils::Logging::AWSROSLogger>(
      kNodeName,
      Aws::Utils::Logging::LogLevel::Debug,
      nh));
  AWS_LOGSTREAM_INFO(__func__, "Starting " << kNodeName << "...");

  // required values
  double publish_frequency;
  std::string log_group;
  std::string log_stream;
  bool subscribe_to_rosout;
  int8_t min_log_verbosity;
  std::vector<rclcpp::Subscription<rcl_interfaces::msg::Log>::SharedPtr> subscriptions;
  std::unordered_set<std::string> ignore_nodes;
  Aws::CloudWatchLogs::CloudWatchOptions cloudwatch_options;


  std::shared_ptr<Aws::Client::ParameterReaderInterface> parameter_reader =
    std::make_shared<Aws::Client::Ros2NodeParameterReader>(nh);

  // checking configurations to set values or set to default values;
  Aws::CloudWatchLogs::Utils::ReadPublishFrequency(parameter_reader, publish_frequency);
  Aws::CloudWatchLogs::Utils::ReadLogGroup(parameter_reader, log_group);
  Aws::CloudWatchLogs::Utils::ReadLogStream(parameter_reader, log_stream);
  Aws::CloudWatchLogs::Utils::ReadSubscribeToRosout(parameter_reader, subscribe_to_rosout);
  Aws::CloudWatchLogs::Utils::ReadMinLogVerbosity(parameter_reader, min_log_verbosity);
  Aws::CloudWatchLogs::Utils::ReadIgnoreNodesSet(parameter_reader, ignore_nodes);

  Aws::CloudWatchLogs::Utils::ReadCloudWatchOptions(parameter_reader, cloudwatch_options);

  // configure aws settings
  Aws::Client::ClientConfigurationProvider client_config_provider(parameter_reader);
  Aws::Client::ClientConfiguration config = client_config_provider.GetClientConfiguration();

  Aws::SDKOptions sdk_options;

  Aws::CloudWatchLogs::Utils::LogNode cloudwatch_logger(min_log_verbosity, ignore_nodes);
  cloudwatch_logger.Initialize(log_group, log_stream, config, sdk_options, cloudwatch_options);

  std::function<bool(const std::shared_ptr<rmw_request_id_t>,
                     const std_srvs::srv::Trigger::Request::SharedPtr,
                     std_srvs::srv::Trigger::Response::SharedPtr)>
  check_if_online = [&cloudwatch_logger](const std::shared_ptr<rmw_request_id_t> /*request_header*/,
                                         const std_srvs::srv::Trigger::Request::SharedPtr request,
                                         std_srvs::srv::Trigger::Response::SharedPtr response) -> bool {
    return cloudwatch_logger.checkIfOnline(*request, *response);
  };
  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr service
    = nh->create_service<std_srvs::srv::Trigger>(kNodeName, check_if_online);

  cloudwatch_logger.start();

  // callback function
  std::function<void(const rcl_interfaces::msg::Log::SharedPtr)> callback;
  callback = [&cloudwatch_logger](const rcl_interfaces::msg::Log::SharedPtr log_msg) -> void {
    cloudwatch_logger.RecordLogs(log_msg);
  };

  // subscribe to additional topics, if any
  Aws::CloudWatchLogs::Utils::ReadSubscriberList(subscribe_to_rosout, parameter_reader, callback, nh, subscriptions);
  AWS_LOGSTREAM_INFO(__func__, "Initialized " << kNodeName << ".");

  bool publish_when_size_reached = cloudwatch_options.uploader_options.batch_trigger_publish_size
                                   != Aws::DataFlow::kDefaultUploaderOptions.batch_trigger_publish_size;

  rclcpp::WallTimer<std::function<void()>>::SharedPtr timer;
  // Publish on a timer if we are not publishing on a size limit.
  if (!publish_when_size_reached) {
    std::function<void()> trigger_log_publisher = [&cloudwatch_logger]() {
      cloudwatch_logger.TriggerLogPublisher();
    };
    timer = nh->create_wall_timer(std::chrono::duration<double>(publish_frequency),
                                  trigger_log_publisher);
  }

  rclcpp::spin(nh);

  AWS_LOGSTREAM_INFO(__func__, "Shutting down " << kNodeName << ".");
  cloudwatch_logger.shutdown();
  Aws::Utils::Logging::ShutdownAWSLogging();
  rclcpp::shutdown();

  return 0;
}