def __init__()

in a2d2/src/rosbag_producer.py [0:0]

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

    def __init__(self, dbconfig=None, servers=None,
                request=None, data_store=None, calibration=None):
        Process.__init__(self)
        logging.basicConfig(
            format='%(asctime)s.%(msecs)s:%(name)s:%(thread)d:%(levelname)s:%(process)d:%(message)s',
            level=logging.INFO)
        self.logger = logging.getLogger("rosbag_producer")

        self.servers = servers
        self.request = request

        self.data_store = data_store
        self.calibration = calibration
        self.tmp = os.getenv("TMP", default="/tmp")

        self.img_cv_bridge = cv_bridge.CvBridge()

        self.manifests = dict() 
        sensors = self.request['sensor_id']
        self.topic_dict = dict()
        self.topic_list = list()
        self.topic_active = dict()
        self.topic_index = 0
        self.round_robin = list()
        self.bus_topic = None

        for s in sensors:
            self.manifests[s] = create_manifest(request=request, dbconfig=dbconfig, sensor_id=s)
            _topic = self.request['ros_topic'][s]
            self.topic_dict[_topic] = []
            self.topic_list.append(_topic)
            self.topic_active[_topic] = True

        if len(sensors) > 1:
            self.bag_lock = threading.Lock()
        else:
            self.bag_lock = None

        self.bag = None
        self.bag_path = None
        self.bag_name = None

        self.multipart = 'multipart' in request['accept']

        if self.multipart:
            self.msg_count = 0

        self.accept = request['accept']
        if self.accept.startswith('s3/'):
            s3_config = self.data_store['s3']
            self.rosbag_bucket = s3_config['rosbag_bucket']
            self.rosbag_prefix = s3_config['rosbag_prefix']
            if not self.rosbag_prefix.endswith("/"):
                self.rosbag_prefix += "/"

        if self.multipart:
            self.chunk_count = len(self.topic_list)*2

        cal_obj = get_s3_resource().Object(calibration["cal_bucket"], calibration["cal_key"])
        cal_data = cal_obj.get()['Body'].read().decode('utf-8')
        self.cal_json = json.loads(cal_data)