AwsError RunEncoderNode()

in h264_video_encoder/src/h264_video_encoder.cpp [158:189]

• 24 lines of code
• 1 McCabe index (conditional complexity)

AwsError RunEncoderNode(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("h264_video_encoder", node_options);

 
  Aws::Utils::Logging::InitializeAWSLogging(Aws::MakeShared<Aws::Utils::Logging::AWSROSLogger>(
    "h264_video_encoder", Aws::Utils::Logging::LogLevel::Trace, node));
  AWS_LOG_INFO(__func__, "Starting H264 Video Node...");

  std::shared_ptr<rclcpp::Publisher<kinesis_video_msgs::msg::KinesisVideoFrame>> pub;
  std::shared_ptr<rclcpp::Subscription<kinesis_video_msgs::msg::KinesisImageMetadata>> metadata_sub;
  image_transport::Subscriber image_sub;
  std::unique_ptr<H264Encoder> encoder;
  uint64_t frame_num = 0;
  kinesis_video_msgs::msg::KinesisImageMetadata metadata;
  Aws::Client::Ros2NodeParameterReader param_reader(node);

  InitializeCommunication(node, metadata_sub, image_sub, pub,
                          encoder, frame_num, metadata, param_reader);
  
  //
  // run the node
  //
  rclcpp::spin(node);
  AWS_LOG_INFO(__func__, "Shutting down H264 Video Node...");
  Aws::Utils::Logging::ShutdownAWSLogging();
  return AWS_ERR_OK;
}