bool RosStreamSubscriptionInstaller::SetupImageTransport()

in kinesis_video_streamer/src/ros_stream_subscription_installer.cpp [24:48]

• 25 lines of code
• 3 McCabe index (conditional complexity)

bool RosStreamSubscriptionInstaller::SetupImageTransport(const ImageTransportCallbackFn callback)
{
    if (!callback) {
        AWS_LOG_ERROR(__func__, "Invalid callback was provided at SetupImageTransport");
        return false;
    }
    SubscriberSetupFn image_transport_setup_closure =
        [this, callback](const StreamSubscriptionDescriptor & descriptor) -> bool {
            auto callback_wrapper = [this, callback, descriptor]
                    (const sensor_msgs::msg::Image::ConstSharedPtr &image) -> void {
                callback(*this->stream_manager_, descriptor.stream_name, image);
            };
            if (auto node_handle = handle_.lock()) {
                image_transport::ImageTransport it(node_handle);
                image_transport_subscribers_.push_back(
                        it.subscribe(descriptor.topic_name, descriptor.message_queue_size, callback_wrapper));
            } else {
                AWS_LOG_ERROR(__func__, "Cannot set up subscription - the node handle has been destroyed.");
                return false;
            }
            return true;
        };
    installers_.insert({KINESIS_STREAM_INPUT_TYPE_IMAGE_TRANSPORT, image_transport_setup_closure});
    return true;
}