void Recorder::DoCheckMaster()

in rosbag_cloud_recorders/src/utils/recorder.cpp [597:652]
50 lines of code
13 McCabe index (conditional complexity)

void Recorder::DoCheckMaster(ros::TimerEvent const& e, ros::NodeHandle& node_handle) {
    (void) e;
    ros::master::V_TopicInfo topics;
    if (ros::master::getTopics(topics)) {
        for (ros::master::TopicInfo const& t : topics) {
            if (ShouldSubscribeToTopic(t.name)) {
                shared_ptr<ros::Subscriber> sub = Subscribe(node_handle, t.name);
                currently_recording_.insert(t.name);
                subscribers_.push_back(sub);
            }
        }
    }
    
    if (options_.node != std::string(""))
    {

      XmlRpc::XmlRpcValue req;
      req[0] = ros::this_node::getName();
      req[1] = options_.node;
      XmlRpc::XmlRpcValue resp;
      XmlRpc::XmlRpcValue payload;

      if (ros::master::execute("lookupNode", req, resp, payload, true))
      {
        std::string peer_host;
        uint32_t peer_port;

        if (!ros::network::splitURI(static_cast<std::string>(resp[2]), peer_host, peer_port))
        {
          ROS_ERROR("Bad xml-rpc URI trying to inspect node at: [%s]", static_cast<std::string>(resp[2]).c_str());
        } else {

          XmlRpc::XmlRpcClient c(peer_host.c_str(), peer_port, "/");
          XmlRpc::XmlRpcValue req2;
          XmlRpc::XmlRpcValue resp2;
          req2[0] = ros::this_node::getName();
          c.execute("getSubscriptions", req2, resp2);
          
          if (!c.isFault() && resp2.valid() && resp2.size() > 0 && static_cast<int>(resp2[0]) == 1)
          {
            for(int i = 0; i < resp2[2].size(); i++)
            {
              if (ShouldSubscribeToTopic(resp2[2][i][0], true))
              {
                shared_ptr<ros::Subscriber> sub = Subscribe(node_handle, resp2[2][i][0]);
                currently_recording_.insert(resp2[2][i][0]);
                subscribers_.push_back(sub);
              }
            }
          } else {
            ROS_ERROR("Node at: [%s] failed to return subscriptions.", static_cast<std::string>(resp[2]).c_str());
          }
        }
      }
    }
}