def __record_pcl_from_s3()

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

• 28 lines of code
• 9 McCabe index (conditional complexity)

    def __record_pcl_from_s3(self, manifest=None,  ros_topic=None, sensor=None, frame_id=None):

        s3_client = get_s3_client()

        req = Queue()
        resp = Queue()

        s3_reader = S3Reader(req, resp)
        s3_reader.start()

        lidar_view = self.request.get("lidar_view", "camera")
        vehicle_transform_matrix = self.__sensor_to_vehicle_matrix(sensor=sensor) if lidar_view == "vehicle" else None
        
        while True:
            files = None
            while not files and manifest.is_open():
                files = manifest.fetch()
            if not files:
                break

            for f in files:
                bucket = f[0]
                key = f[1]
                req.put(bucket+" "+key)

            self.__process_s3_pcl_files(ros_topic=ros_topic, 
                    files=files, resp=resp, frame_id=frame_id, s3_client=s3_client,
                    lidar_view=lidar_view, vehicle_transform_matrix=vehicle_transform_matrix)

            if self.request['preview']:
                break

        req.put("__close__")
        s3_reader.join(timeout=2)
        if s3_reader.is_alive():
            s3_reader.terminate()

        self.topic_active[ros_topic] = False