bool RosStreamSubscriptionInstaller::SetupKinesisVideoFrameTransport()

in kinesis_video_streamer/src/ros_stream_subscription_installer.cpp [44:65]

• 22 lines of code
• 2 McCabe index (conditional complexity)

bool RosStreamSubscriptionInstaller::SetupKinesisVideoFrameTransport(
  const KinesisVideoFrameTransportCallbackFn callback)
{
  if (!callback) {
    AWS_LOG_ERROR(__func__, "Invalid callback was provided");
    return false;
  }
  SubscriberSetupFn kinesis_video_frame_setup_closure =
    [this, callback](const StreamSubscriptionDescriptor & descriptor) -> bool {
    boost::function<void(const kinesis_video_msgs::KinesisVideoFrame::ConstPtr &)> callback_wrapper;
    callback_wrapper = [this, callback, descriptor](
                         const kinesis_video_msgs::KinesisVideoFrame::ConstPtr & frame) -> void {
      callback(*this->stream_manager_, descriptor.stream_name, frame);
    };
    standard_subscribers_.push_back(handle_->subscribe(
      descriptor.topic_name.c_str(), descriptor.message_queue_size, callback_wrapper));
    return true;
  };
  installers_.insert(
    {KINESIS_STREAM_INPUT_TYPE_KINESIS_VIDEO_FRAME, kinesis_video_frame_setup_closure});
  return true;
}