def start_timeseq()

in src/rosbridge/fetch_proxy.py [0:0]
52 lines of code
2 McCabe index (conditional complexity)

    def start_timeseq(self, script):
        timeseq = TimeseqWriter.create(script)
        timeseq.add_channel('robot_joints', 'FetchRobotJoints')
        timeseq.add_channel('gripper_joints', 'FetchGripperJoints')

        timeseq.add_schema('FetchRobotJoints',
            ('torso_lift_joint', 'JointState'),
            ('head_pan_joint', 'JointState'),
            ('head_tilt_joint', 'JointState'),
            ('shoulder_pan_joint', 'JointState'),
            ('shoulder_lift_joint', 'JointState'),
            ('upperarm_roll_joint', 'JointState'),
            ('elbow_flex_joint', 'JointState'),
            ('forearm_roll_joint', 'JointState'),
            ('wrist_flex_joint', 'JointState'),
            ('wrist_roll_joint', 'JointState'),
        )
        timeseq.add_schema('FetchGripperJoints',
            ('l_gripper_finger_joint', 'JointState'),
        )
        timeseq.add_schema('JointState',
            ('pos', 'double'),
            ('vel', 'double'),
            ('effort', 'double'),
        )
        timeseq.add_channel('arm_action', 'FetchArmWeightlessTorqueAction')
        timeseq.add_schema('FetchArmWeightlessTorqueAction',
            ('shoulder_pan_joint', 'WeightlessTorqueAction'),
            ('shoulder_lift_joint', 'WeightlessTorqueAction'),
            ('upperarm_roll_joint', 'WeightlessTorqueAction'),
            ('elbow_flex_joint', 'WeightlessTorqueAction'),
            ('forearm_roll_joint', 'WeightlessTorqueAction'),
            ('wrist_flex_joint', 'WeightlessTorqueAction'),
            ('wrist_roll_joint', 'WeightlessTorqueAction'),
        )
        timeseq.add_schema('WeightlessTorqueAction',
            ('action', 'double'),
            ('effort', 'double'),
        )

        timeseq.add_channel('gripper_action', 'FetchGripperAction')
        timeseq.add_schema('FetchGripperAction',
            ('action', 'double'),
            ('effort', 'double'),
            ('pos', 'double'),
        )

        timeseq.add_channel('head_camera_rgb', 'VideoFrame')
        timeseq.add_schema('VideoFrame',
            ('url', 'string'),
        )
        with self.timeseq_mutex:
            if self.timeseq:
                self.timeseq.close()
            self.timeseq = timeseq