def main()

in simulation_ws/src/simulation_app/scripts/file_uploader.py [0:0]

• 24 lines of code
• 8 McCabe index (conditional complexity)

    def main(self):
        rate = rospy.Rate(10.0)
        listener = tf.TransformListener()

        while not rospy.is_shutdown():
            try:
                (trans,rot) = listener.lookupTransform('map', '/base_link', rospy.Time(0))
                nav_pose = {}
                nav_pose['x'] = trans[0]
                nav_pose['y'] = trans[1]

                if self.norm_one_distance( nav_pose, self.prev_nav_pose ) > self.NORM_ONE_DISTANCE_THRESHOLD:
                    self.last_robot_moving_time = rospy.rostime.time.time()
                    self.prev_nav_pose = nav_pose

                if (rospy.rostime.time.time() - self.last_robot_moving_time) > self.ROBOT_STOP_TIMEOUT:
                    rospy.logwarn('[file_uploader] Robot no longer moving')
                    self.write_map_and_terminate = True

                if (rospy.rostime.time.time() - self.start_time) > self.TOTAL_MAPPING_TIMEOUT:
                    rospy.logwarn('[file_uploader] Simulation time threshold reached')
                    self.write_map_and_terminate = True

                if (self.sent_terminate_command is False) and (self.write_map_and_terminate is True):
                    self.write_map_to_disk(self.LOCAL_MAP_WRITE_FOLDER, self.simulation_id)
                    self.cancel_job()
                    
            except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
                rospy.loginfo("[file_uploader] TF exception in gathering current position")

            rate.sleep()