void InitializeCommunication()

in h264_video_encoder/src/h264_video_encoder.cpp [111:156]

• 35 lines of code
• 4 McCabe index (conditional complexity)

void InitializeCommunication(rclcpp::Node::SharedPtr node,
                             std::shared_ptr<rclcpp::Subscription<kinesis_video_msgs::msg::KinesisImageMetadata>> & metadata_sub,
                             image_transport::Subscriber& image_sub,
                             std::shared_ptr<rclcpp::Publisher<kinesis_video_msgs::msg::KinesisVideoFrame>> & pub,
                             std::unique_ptr<H264Encoder>& encoder,
                             uint64_t & frame_num,
                             kinesis_video_msgs::msg::KinesisImageMetadata & metadata,
                             Aws::Client::Ros2NodeParameterReader & param_reader)
{
  //
  // reading parameters
  //
  H264EncoderNodeParams params;
  GetH264EncoderNodeParams(param_reader, params);


  pub = node->create_publisher<kinesis_video_msgs::msg::KinesisVideoFrame>(params.publication_topic,
                                                            params.queue_size);

  //
  // subscribing to topic with callback
  //
  auto image_callback = [&](const sensor_msgs::msg::Image::ConstSharedPtr msg) -> void {
    if (0 < pub->get_subscription_count()) {
      if (nullptr == encoder) {
        InitializeEncoder(msg, encoder, param_reader);
      }
      if (nullptr != encoder) {
        ImageCallback(msg, encoder.get(), frame_num, metadata, pub);
      }
    } else {
      frame_num = 0;
    }
  };

  image_transport::ImageTransport it(node);
  image_sub =
    it.subscribe(params.subscription_topic, params.queue_size, image_callback);
  AWS_LOGSTREAM_INFO(__func__, "subscribed to " << params.subscription_topic << "...");

  auto metadata_callback = [&](const kinesis_video_msgs::msg::KinesisImageMetadata::ConstPtr msg) -> void {
    metadata.metadata.insert(metadata.metadata.end(), msg->metadata.begin(), msg->metadata.end());
  };
  metadata_sub = node->create_subscription<kinesis_video_msgs::msg::KinesisImageMetadata>(params.metadata_topic, params.queue_size, metadata_callback);
  AWS_LOGSTREAM_INFO(__func__, "subscribed to " << params.metadata_topic << " for metadata...");
}