def handle_message()

in tools/cansim/can_command_server.py [0:0]
47 lines of code
7 McCabe index (conditional complexity)

    def handle_message(self, receive_msg):
        for config in self.command_configs:
            if receive_msg.arbitration_id == self.mask_id(
                config["canRequestId"]
            ) and receive_msg.is_extended_id == self.is_extended_id(config["canRequestId"]):
                break
        else:
            return

        try:
            self.data = bytearray(receive_msg.data)
            command_id = self.pop_string()
            issued_timestamp_ms = self.pop_arg(">Q")
            execution_timeout_ms = self.pop_arg(">Q")
            arg_value = self.pop_arg(config["argumentType"])
            print(
                f"Received request for {config['actuatorName']}"
                f" with command id {command_id}, value {arg_value},"
                f" issued timestamp {issued_timestamp_ms}, execution timeout {execution_timeout_ms}"
            )
            self.args[command_id] = arg_value
            execution_state = {"in_progress_counter": config["inProgressCount"]}

            def send_response():
                status = 10 if execution_state["in_progress_counter"] > 0 else config["status"]
                print(
                    f"Sending response to request for {config['actuatorName']}"
                    f" with command id {command_id}, status {status},"
                    f" reason code {config['reasonCode']},"
                    f" reason description {config['reasonDescription']}"
                )
                self.data = bytearray()
                send_msg = can.Message()
                send_msg.arbitration_id = self.mask_id(config["canResponseId"])
                send_msg.is_extended_id = self.is_extended_id(config["canResponseId"])
                send_msg.is_fd = True
                self.push_string(command_id)
                self.push_arg("B", status)
                self.push_arg(">I", config["reasonCode"])
                self.push_string(config["reasonDescription"])
                send_msg.data = self.data
                send_msg.dlc = len(self.data)
                self.can_bus.send(send_msg)
                if execution_state["in_progress_counter"] > 0:
                    execution_state["in_progress_counter"] -= 1
                    self.loop.call_later(config["responseDelay"], send_response)

            self.loop.call_later(config["responseDelay"], send_response)
        except Exception as e:
            print(e)