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ROSTransportでSubscriber側のRTCが異常終了すると、Publisher側のRTCがエラー状態になる問題 #304

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merged 2 commits into from
Dec 18, 2023
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ROSTransportでSubscriber側のRTCが異常終了すると、Publisher側のRTCがエラー状態になる問題 #304

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6bda0e2
[compat] fixed bugs.
Nobu19800 Oct 17, 2023
a00602c
[compat] fixed bugs.
Nobu19800 Oct 17, 2023
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9 changes: 7 additions & 2 deletions OpenRTM_aist/ext/transport/ROSTransport/ROSOutPort.py
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Original file line number Diff line number Diff line change
Expand Up @@ -344,10 +344,15 @@ def put(self, data):
connector.sendall(data)
except BaseException:
self._rtcout.RTC_ERROR("send error")
self._topicmgr.removeSubscriberLink(connector.getConnection())
try:
self._topicmgr.removeSubscriberLink(connector.getConnection())
except OSError as e:
self._rtcout.RTC_ERROR(e)


# connector.shutdown(socket.SHUT_RDWR)

ret = self.CONNECTION_LOST
#ret = self.CONNECTION_LOST
self._tcp_connecters.remove(connector)
return ret

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