static void ProcessRollingRecorderGoal()

in rosbag_cloud_recorders/include/rosbag_cloud_recorders/rolling_recorder/rolling_recorder_action_server_handler.h [72:118]
41 lines of code
2 McCabe index (conditional complexity)

  static void ProcessRollingRecorderGoal(
    const RollingRecorderRosbagUploadRequest<GoalHandleT, UploadClientT> & req
  ) {
    recorder_msgs::RollingRecorderResult result;
    ros::Time time_of_goal_received = ros::Time::now();

    //  Accept incoming goal and start processing it
    AWS_LOG_INFO(__func__, "Sending rosbag uploader goal to uploader action server.");
    req.goal_handle.setAccepted();

    recorder_msgs::RollingRecorderFeedback recorder_feedback;
    recorder_msgs::RecorderStatus recording_status;
    Utils::GenerateFeedback(
      recorder_msgs::RecorderStatus::PREPARING_UPLOAD,
      time_of_goal_received,
      recorder_feedback,
      recording_status);
    req.goal_handle.publishFeedback(recorder_feedback);
    std::vector<std::string> rosbags_to_upload = Utils::GetRosbagsToUpload(req.rolling_recorder_options.write_directory,
      [time_of_goal_received](rosbag::View& rosbag) -> bool
      {
        return time_of_goal_received >= rosbag.getBeginTime();
      }
    );
    if (rosbags_to_upload.empty()) {
      const std::string msg = "No rosbags found to upload.";
      Utils::GenerateResult(recorder_msgs::RecorderResult::SUCCESS, msg, result);
      req.goal_handle.setSucceeded(result, msg);
      AWS_LOG_INFO(__func__, msg.c_str());
      return;
    }

    auto goal = Utils::ConstructRosBagUploaderGoal(req.goal_handle.getGoal()->destination, rosbags_to_upload);
    req.recorder_status->SetUploadGoal(goal);
    req.rosbag_uploader_action_client.sendGoal(goal);

    Utils::GenerateFeedback(
      recorder_msgs::RecorderStatus::UPLOADING,
      ros::Time::now(),
      recorder_feedback,
      recording_status);
    req.goal_handle.publishFeedback(recorder_feedback);
    bool upload_finished = req.rosbag_uploader_action_client.waitForResult(ros::Duration(req.rolling_recorder_options.upload_timeout_s));

    Utils::HandleRecorderUploadResult(req.goal_handle, req.rosbag_uploader_action_client.getState(), upload_finished, result);
    req.recorder_status->SetUploadGoal(file_uploader_msgs::UploadFilesGoal());
  }