image_streamer: don't try/catch in sendImage, but in restreamFrame.

Signed-off-by: Peter Soetens <peter@thesourceworks.com>
RobotWebTools · Feb 6, 2015 · 2fb83e0 · 2fb83e0
1 parent ae10e85
commit 2fb83e0
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Showing 2 changed files with 26 additions and 11 deletions.
diff --git a/src/image_streamer.cpp b/src/image_streamer.cpp
@@ -27,10 +27,32 @@ void ImageStreamer::restreamFrame(double max_age)
 {
   if (inactive_ || !initialized_ )
     return;
-  if ( last_frame + ros::WallDuration(max_age) < ros::WallTime::now() ) {
-    boost::mutex::scoped_lock lock(send_mutex_);
-    sendImage(output_size_image, ros::WallTime::now() ); // don't update last_frame, it may remain an old value.
+  try {
+    if ( last_frame + ros::WallDuration(max_age) < ros::WallTime::now() ) {
+      boost::mutex::scoped_lock lock(send_mutex_);
+      sendImage(output_size_image, ros::WallTime::now() ); // don't update last_frame, it may remain an old value.
+    }
+  }
+  catch (boost::system::system_error &e)
+  {
+    // happens when client disconnects
+    ROS_DEBUG("system_error exception: %s", e.what());
+    inactive_ = true;
+    return;
+  }
+  catch (std::exception &e)
+  {
+    ROS_ERROR_THROTTLE(30, "exception: %s", e.what());
+    inactive_ = true;
+    return;
   }
+  catch (...)
+  {
+    ROS_ERROR_THROTTLE(30, "exception");
+    inactive_ = true;
+    return;
+  }
+
 }
 
 void ImageStreamer::imageCallback(const sensor_msgs::ImageConstPtr &msg)

diff --git a/src/libav_streamer.cpp b/src/libav_streamer.cpp
@@ -320,14 +320,7 @@ void LibavStreamer::sendImage(const cv::Mat &img, const ros::WallTime &time)
 
   av_free_packet(&pkt);
 
-  try {
-    connection_->write_and_clear(encoded_frame);
-  } catch (boost::system::system_error& e) {
-    // probably a broken pipe. Bail out.
-    ROS_DEBUG("system_error exception: %s", e.what());
-    inactive_ = true;
-    return;
-  }
+  connection_->write_and_clear(encoded_frame);
 }
 
 LibavStreamerType::LibavStreamerType(const std::string &format_name, const std::string &codec_name,