void Recorder::DoRecord()

in rosbag_cloud_recorders/src/utils/recorder.cpp [469:555]
71 lines of code
13 McCabe index (conditional complexity)

void Recorder::DoRecord() {
    // Open bag file for writing
    StartWriting();

    // Schedule the disk space check
    warn_next_ = ros::WallTime();

    try
    {
        CheckDisk();
    }
    catch (const rosbag::BagException& ex)
    {
        ROS_ERROR_STREAM(ex.what());
        exit_code_ = 1;
        StopWriting();
        return;
    }

    check_disk_next_ = ros::WallTime::now() + ros::WallDuration().fromSec(20.0);

    // Technically the queue_mutex_ should be locked while checking empty.
    // Except it should only get checked if the node is not ok, and thus
    // it shouldn't be in contention.
    ros::NodeHandle nh;
    while (nh.ok() || !queue_->empty()) {
        boost::unique_lock<boost::mutex> lock(queue_mutex_);

        bool finished = false;
        while (queue_->empty()) {
            if (!nh.ok()) {
                lock.release()->unlock();
                finished = true;
                break;
            }
            boost::xtime xt {};
#if BOOST_VERSION >= 105000
            boost::xtime_get(&xt, boost::TIME_UTC_);
#else
            boost::xtime_get(&xt, boost::TIME_UTC);
#endif
            xt.nsec += 250000000;
            queue_condition_.timed_wait(lock, xt);
            if (CheckDuration(ros::Time::now()))
            {
                finished = true;
                break;
            }
        }
        if (finished)
        {
            break;
        }

        OutgoingMessage out = queue_->front();
        queue_->pop();
        queue_size_ -= out.msg->size();
        
        lock.release()->unlock();
        
        if (CheckSize())
        {
            break;
        }

        if (CheckDuration(out.time))
        {
            break;
        }

        try
        {
            if (ScheduledCheckDisk() && CheckLogging())
            {
                bag_.write(out.topic, out.time, *out.msg, out.connection_header);
            }
        }
        catch (const rosbag::BagException& ex)
        {
            ROS_ERROR_STREAM(ex.what());
            exit_code_ = 1;
            break;
        }
    }

    StopWriting();
}