void Recorder::DoRecordSnapshotter()

in rosbag_cloud_recorders/src/utils/recorder.cpp [557:595]

• 31 lines of code
• 7 McCabe index (conditional complexity)

void Recorder::DoRecordSnapshotter() {
    ros::NodeHandle nh;
  
    while (nh.ok() || !queue_queue_.empty()) {
        boost::unique_lock<boost::mutex> lock(queue_mutex_);
        while (queue_queue_.empty()) {
            if (!nh.ok())
            {
                return;
            }
            queue_condition_.wait(lock);
        }
        
        OutgoingQueue out_queue = queue_queue_.front();
        queue_queue_.pop();
        
        lock.release()->unlock();
        
        string target_filename = out_queue.filename;
        string write_filename  = target_filename + string(".active");
        
        try {
            bag_.open(write_filename, rosbag::bagmode::Write);
        }
        catch (const rosbag::BagException& ex) {
            ROS_ERROR("Error writing: %s", ex.what());
            return;
        }

        while (!out_queue.queue->empty()) {
            OutgoingMessage out = out_queue.queue->front();
            out_queue.queue->pop();

            bag_.write(out.topic, out.time, *out.msg);
        }

        StopWriting();
    }
}