void Recorder::DoQueue()

in rosbag_cloud_recorders/src/utils/recorder.cpp [272:320]

• 38 lines of code
• 9 McCabe index (conditional complexity)

void Recorder::DoQueue(const ros::MessageEvent<topic_tools::ShapeShifter const>& msg_event,
                       string const& topic,
                       ros::Subscriber * subscriber,
                       const shared_ptr<int> & count) {
    //void Recorder::DoQueue(topic_tools::ShapeShifter::ConstPtr msg, string const& topic, shared_ptr<ros::Subscriber> subscriber, shared_ptr<int> count) {
    Time rectime = Time::now();
    
    if (options_.verbose)
    {
        cout << "Received message on topic " << subscriber->getTopic() << endl;
    }

    OutgoingMessage out(topic, msg_event.getMessage(), msg_event.getConnectionHeaderPtr(), rectime);
    
    {
        boost::mutex::scoped_lock lock(queue_mutex_);

        queue_->push(out);
        queue_size_ += out.msg->size();
        
        // Check to see if buffer has been exceeded
        while (options_.buffer_size > 0 && queue_size_ > options_.buffer_size) {
            OutgoingMessage drop = queue_->front();
            queue_->pop();
            queue_size_ -= drop.msg->size();

            if (!options_.snapshot) {
                Time now = Time::now();
                if (now > last_buffer_warn_ + ros::Duration(5.0)) {
                    ROS_WARN("rosbag record buffer exceeded.  Dropping oldest queued message.");
                    last_buffer_warn_ = now;
                }
            }
        }
    }
  
    if (!options_.snapshot)
    {
        queue_condition_.notify_all();
    }

    // If we are book-keeping count, decrement and possibly shutdown
    if ((*count) > 0) {
        (*count)--;
        if ((*count) == 0) {
            subscriber->shutdown();
        }
    }
}