Method mavlink_thread_in

dronekit/mavlink.py:202–253

()

            self.out_queue = Queue()

        def mavlink_thread_in():
            # Huge try catch in case we see http://bugs.python.org/issue1856
            try:
                while self._alive:
                    # Downtime
                    time.sleep(0.05)

                    # Loop listeners.
                    for fn in self.loop_listeners:
                        fn(self)

                    while self._accept_input:
                        try:
                            msg = self.master.recv_msg()
                        except socket.error as error:
                            # If connection reset (closed), stop polling.
                            if error.errno == ECONNABORTED:
                                raise APIException('Connection aborting during send')
                            raise
                        except Exception as e:
                            # TODO this should be more rigorous. How to avoid
                            #   invalid MAVLink prefix '73'
                            #   invalid MAVLink prefix '13'
                            # errprinter('mav recv error:', e)
                            msg = None
                        if not msg:
                            break

                        # Message listeners.
                        for fn in self.message_listeners:
                            try:
                                fn(self, msg)
                            except Exception as e:
                                errprinter('>>> Exception in message handler for %s' %
                                           msg.get_type())
                                errprinter('>>> ' + str(e))

            except APIException as e:
                errprinter('>>> ' + str(e.message))
                self._alive = False
                self.master.close()
                self._death_error = e
                return

            except Exception as e:
                # http://bugs.python.org/issue1856
                if not self._alive:
                    pass
                else:
                    self._alive = False
                    self.master.close()
                    self._death_error = e

        t = Thread(target=mavlink_thread_in)
        t.daemon = True