handle_arduino.py 文件源码

def handle_process(self, proc, err):
        """
        Takes a running subprocess.Popen object `proc`, rosdebugs everything it
        prints to stdout, roswarns everything it prints to stderr, and raises
        `err` if it fails
        """
        poll = select.poll()
        poll.register(proc.stdout)
        poll.register(proc.stderr)
        while proc.poll() is None and not rospy.is_shutdown():
            res = poll.poll(1)
            for fd, evt in res:
                if not (evt & select.POLLIN):
                    continue
                if fd == proc.stdout.fileno():
                    line = proc.stdout.readline().strip()
                    if line:
                        rospy.logdebug(line)
                elif fd == proc.stderr.fileno():
                    line = proc.stderr.readline().strip()
                    if line:
                        rospy.logwarn(line)
        if proc.poll():
            proc.terminate()
            proc.wait()
            raise RuntimeError("Process interrupted by ROS shutdown")
        if proc.returncode:
            raise err