int main()

in rosbag_cloud_recorders/src/duration_recorder/main.cpp [46:92]

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

int main(int argc, char* argv[])
{
  ros::init(argc, argv, kNodeName);
  Aws::Utils::Logging::InitializeAWSLogging(
        Aws::MakeShared<Aws::Utils::Logging::AWSROSLogger>(kNodeName));

  Aws::Rosbag::DurationRecorderOptions duration_recorder_options;
  auto parameter_reader = std::make_shared<Aws::Client::Ros1NodeParameterReader>();

  int min_free_space;
  if (Aws::AwsError::AWS_ERR_OK == parameter_reader->ReadParam(Aws::Client::ParameterPath(kMinFreeSpaceParameter), min_free_space)) {
    if (min_free_space < 0) {
      AWS_LOG_ERROR(__func__, "min_free_disk_space must be a positive integer.");
      return EXIT_FAILURE;
    }
    duration_recorder_options.min_free_space_mib = min_free_space;
  } else {
    duration_recorder_options.min_free_space_mib = kMinFreeSpaceDefaultInMebibytes;
  }
  std::string write_dir_input;
  if (Aws::AwsError::AWS_ERR_OK != parameter_reader->ReadParam(Aws::Client::ParameterPath(kWriteDirectoryParameter), write_dir_input)) {
    write_dir_input = kWriteDirectoryDefault;
  }
  if (Aws::AwsError::AWS_ERR_OK != parameter_reader->ReadParam(Aws::Client::ParameterPath(kUploadTimeoutParameter), duration_recorder_options.upload_timeout_s)) {
    duration_recorder_options.upload_timeout_s = kUploadTimeoutDefaultInSeconds;
  }
  if (Aws::AwsError::AWS_ERR_OK != parameter_reader->ReadParam(Aws::Client::ParameterPath(kDeleteBagsAfterUploadParameter), duration_recorder_options.delete_bags_after_upload)) {
    duration_recorder_options.delete_bags_after_upload = kDeleteBagsAfterUploadDefault;
  }

  std::string write_dir;
  if (Aws::Rosbag::Utils::ExpandAndCreateDir(write_dir_input, write_dir)) {
    duration_recorder_options.write_directory = write_dir;
    AWS_LOG_INFO(__func__, "Starting duration recorder");

    Aws::Rosbag::DurationRecorder duration_recorder(duration_recorder_options);
    ros::MultiThreadedSpinner spinner(2);
    spinner.spin();
  } else {
    AWS_LOG_ERROR(__func__, "Failed to access rosbag write directory. Shutting down.");
    return EXIT_FAILURE;
  }

  Aws::Utils::Logging::ShutdownAWSLogging();

  return EXIT_SUCCESS;
}