int main()

in kinesis_video_streamer/src/main.cpp [38:85]
42 lines of code
4 McCabe index (conditional complexity)

int main(int argc, char * argv[])
{
    int return_code = UNKNOWN_ERROR_KINESIS_VIDEO_EXIT_CODE;

    rclcpp::init(argc, argv);

    rclcpp::NodeOptions node_options;
    node_options.allow_undeclared_parameters(true);
    node_options.automatically_declare_parameters_from_overrides(true);
    auto streamer = std::make_shared<StreamerNode>(kNodeName, std::string(), node_options);
    auto parameter_reader = std::make_shared<Aws::Client::Ros2NodeParameterReader>(streamer);
    auto subscription_installer = std::make_shared<RosStreamSubscriptionInstaller>(streamer);

    Aws::Utils::Logging::InitializeAWSLogging(Aws::MakeShared<Aws::Utils::Logging::AWSROSLogger>(
            kNodeName, Aws::Utils::Logging::LogLevel::Trace, streamer));
    Aws::SDKOptions options;
    Aws::InitAPI(options);

    KinesisManagerStatus status = streamer->Initialize(parameter_reader, subscription_installer);
    if (!KINESIS_MANAGER_STATUS_SUCCEEDED(status)) {
        return_code = status;
        goto shutdown_;
    }

    status = streamer->InitializeStreamSubscriptions();
    if (KINESIS_MANAGER_STATUS_SUCCEEDED(status)) {
        AWS_LOG_INFO(__func__, "Starting Kinesis Video Node...");
        uint32_t spinner_thread_count = kDefaultNumberOfSpinnerThreads;
        int spinner_thread_count_input;
        if (Aws::AwsError::AWS_ERR_OK ==
            parameter_reader->ReadParam(ParameterPath(kSpinnerThreadCountOverrideParameter),
                                         spinner_thread_count_input)) {
            spinner_thread_count = static_cast<uint32_t>(spinner_thread_count_input);
        }
        rclcpp::executors::MultiThreadedExecutor spinner(rclcpp::executor::ExecutorArgs(), spinner_thread_count);
        spinner.add_node(streamer);
        spinner.spin();
    } else {
        return_code = status;
        goto shutdown_;
    }

shutdown_:
    AWS_LOG_INFO(__func__, "Shutting down Kinesis Video Node...");
    Aws::Utils::Logging::ShutdownAWSLogging();
    Aws::ShutdownAPI(options);
    return return_code & RETURN_CODE_MASK;
}