piksi_driver.py 文件源码

def spin(self):
        reconnect_delay = 1.0
        while not rospy.is_shutdown():
            try:
                rospy.loginfo("Connecting to SwiftNav Piksi on port %s" % self.piksi_port)
                self.connect_piksi()

                while not rospy.is_shutdown():
                    rospy.sleep(0.05)
                    if not self.piksi.is_alive():
                        raise IOError
                    self.diag_updater.update()
                    self.check_timeouts()

                break # should only happen if rospy is trying to shut down
            except IOError as e:
                rospy.logerr("IOError")
                self.disconnect_piksi()
            except SystemExit as e:
                rospy.logerr("Unable to connect to Piksi on port %s" % self.piksi_port)
                self.disconnect_piksi()
            except: # catch *all* exceptions
                e = sys.exc_info()[0]
                rospy.logerr("Uncaught error: %s" % repr(e))
                self.disconnect_piksi()
            rospy.loginfo("Attempting to reconnect in %fs" % reconnect_delay)
            rospy.sleep(reconnect_delay)