int main()

in health_metric_collector/src/collector.cpp [47:88]

• 27 lines of code
• 1 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);

  auto node = rclcpp::Node::make_shared(DEFAULT_NODE_NAME, std::string(), node_options);

  auto param_reader = std::make_shared<Ros2NodeParameterReader>(node);

  // get interval param
  double interval = DEFAULT_INTERVAL_SEC;
  param_reader->ReadParam(ParameterPath(INTERVAL_PARAM_NAME), interval);

  // get robot id
  std::string robot_id = DEFAULT_ROBOT_ID;
  param_reader->ReadParam(ParameterPath(ROBOT_ID_DIMENSION), robot_id);

  // advertise
  AWS_LOG_INFO(__func__, "Starting Health Metric Collector Node...");
  auto mg = std::make_shared<MetricManager>(node, METRICS_TOPIC_NAME, TOPIC_BUFFER_SIZE);
  mg->AddDimension(ROBOT_ID_DIMENSION, robot_id);
  mg->AddDimension(CATEGORY_DIMENSION, HEALTH_CATEGORY);

  std::vector<std::shared_ptr<MetricCollectorInterface>> collectors;
  auto cpu_collector = std::make_shared<CPUMetricCollector>(mg);
  collectors.push_back(cpu_collector);

  auto sys_collector = std::make_shared<SysInfoCollector>(mg);
  collectors.push_back(sys_collector);

  // start metrics collection
  CollectAndPublish f(mg, collectors);
  auto timer = node->create_wall_timer(1s, [&f]{f.Publish();});

  rclcpp::spin(node);

  AWS_LOG_INFO(__func__, "Shutting down Health Metric Collector Node...");
  return 0;
}