monitor.py
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00001 #! /usr/bin/env python
00002 # -*- coding: utf-8 -*-
00003 
00004 # Software License Agreement (BSD)
00005 #
00006 #  file      @monitor.py
00007 #  authors   Mike Purvis <mpurvis@clearpathrobotics.com>
00008 #  copyright Copyright (c) 2012, Clearpath Robotics, Inc., All rights reserved.
00009 #
00010 # Redistribution and use in source and binary forms, with or without modification, are permitted provided that
00011 # the following conditions are met:
00012 #  * Redistributions of source code must retain the above copyright notice, this list of conditions and the
00013 #    following disclaimer.
00014 #  * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
00015 #    following disclaimer in the documentation and/or other materials provided with the distribution.
00016 #  * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
00017 #    products derived from this software without specific prior written permission.
00018 #
00019 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
00020 # RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
00021 # PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
00022 # DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
00023 # OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 # ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00025 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 
00027 import rospy
00028 import threading
00029 
00030 
00031 class Monitor(threading.Thread):
00032     def __init__(self, ports):
00033         super(Monitor, self).__init__()
00034         self.ports = ports
00035         self.finish = threading.Event()
00036 
00037     def run(self):
00038         while not self.finish:
00039             rospy.sleep(1.0)
00040             for name, port in ports.items():
00041                 if not port.is_alive():
00042                     rospy.logerr("Port %s thread died. Signalling node shutdown." % name)
00043                     rospy.signal_shutdown("Node lost thread.")


novatel_span_driver
Author(s): NovAtel Support
autogenerated on Mon Apr 1 2019 10:03:10