void ImageTransportCallback()

in kinesis_video_streamer/src/subscriber_callbacks.cpp [106:144]

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

void ImageTransportCallback(const KinesisStreamManagerInterface & stream_manager,
                            std::string stream_name,
                            const sensor_msgs::msg::Image::ConstSharedPtr image)
{
    Frame frame;
    frame.trackId = DEFAULT_TRACK_ID;
    frame.size = image->step * image->height;
    /* Overflow check (since 'size', 'step' and 'height' are all 32 bit integers). */
    if (image->step != 0 && frame.size / image->step != image->height) {
        AWS_LOGSTREAM_WARN(
                __func__,
                stream_name.c_str()
                        << " Integer overflow detected - image size is too big. Aborting imageTransportCallback");
        return;
    }
    frame.frameData = reinterpret_cast<PBYTE>((void *)(image->data.data()));
    frame.duration = 0;
    frame.index = 0;
    UINT64 generated_timestamp = std::chrono::duration_cast<std::chrono::nanoseconds>(
            std::chrono::system_clock::now().time_since_epoch())
                                         .count() /
                                 DEFAULT_TIME_UNIT_IN_NANOS;
    /* Image uses standard ROS Header type which contains a (seconds, nseconds) timestamp structure.
     * Need to convert to 100ns unit. */
    std::chrono::seconds timestamp_in_seconds(image->header.stamp.sec);
    UINT64 image_timestamp =
            (std::chrono::microseconds(timestamp_in_seconds).count() * HUNDREDS_OF_NANOS_IN_A_MICROSECOND) +
            (image->header.stamp.nanosec / DEFAULT_TIME_UNIT_IN_NANOS);
    frame.decodingTs = image_timestamp ? image_timestamp : generated_timestamp;
    frame.presentationTs = image_timestamp ? image_timestamp : generated_timestamp;
    frame.flags = FRAME_FLAG_NONE;

    KinesisManagerStatus status = stream_manager.PutFrame(stream_name, frame);
    if (KINESIS_MANAGER_STATUS_FAILED(status)) {
        AWS_LOGSTREAM_WARN(__func__, stream_name.c_str() << " PutFrame failed. Error code: " << status);
    } else {
        AWS_LOG_DEBUG("%s PutFrame succeeded. Frame index: %du", stream_name.c_str(), frame.index);
    }
}