fix: retry indefinitely on network loss instead of exiting node

src/ntrip_client/ntrip_base.py

@@ -46,22 +46,16 @@ def disconnect(self):
     raise NotImplementedError("Must override disconnect")
 
   def reconnect(self):
-    if self._connected:
-      while not self._shutdown:
-        self._reconnect_attempt_count += 1
-        self.disconnect()
-        connect_success = self.connect()
-        if not connect_success and self._reconnect_attempt_count < self.reconnect_attempt_max:
-          self._logerr('Reconnect failed. Retrying in {} seconds'.format(self.reconnect_attempt_wait_seconds))
-          time.sleep(self.reconnect_attempt_wait_seconds)
-        elif self._reconnect_attempt_count >= self.reconnect_attempt_max:
-          self._reconnect_attempt_count = 0
-          raise Exception("Reconnect was attempted {} times, but never succeeded".format(self._reconnect_attempt_count))
-        elif connect_success:
-          self._reconnect_attempt_count = 0
-          break
-    else:
-      self._logdebug('Reconnect called while not connected, ignoring')
+    self.disconnect()
+    while not self._shutdown:
+      self._reconnect_attempt_count += 1
+      connect_success = self.connect()
+      if connect_success:
+        self._reconnect_attempt_count = 0
+        break
+      self._logerr('Reconnect attempt {} failed. Retrying in {} seconds'.format(
+        self._reconnect_attempt_count, self.reconnect_attempt_wait_seconds))
+      time.sleep(self.reconnect_attempt_wait_seconds)
 
   def send_nmea(self):
     raise NotImplementedError("Must override send_nmea")

src/ntrip_client/ntrip_ros_base.py

@@ -82,10 +82,16 @@ def run(self):
     # Setup a shutdown hook
     rospy.on_shutdown(self.stop)
 
-    # Connect the client
-    if not self._client.connect():
-      rospy.logerr('Unable to connect to NTRIP server')
-      return 1
+    # Retry initial connection indefinitely until wifi/network is available
+    while not rospy.is_shutdown():
+      if self._client.connect():
+        break
+      rospy.logwarn('Unable to connect to NTRIP server, retrying in {} seconds...'.format(
+        self._reconnect_attempt_wait_seconds))
+      rospy.sleep(self._reconnect_attempt_wait_seconds)
+
+    if rospy.is_shutdown():
+      return 0
 
     # Setup our subscriber
     self._nmea_sub = rospy.Subscriber('nmea', Sentence, self.subscribe_nmea, queue_size=10)
@@ -173,4 +179,4 @@ def _create_rtcm_msgs_rtcm_message(self, rtcm):
         frame_id=self._rtcm_frame_id
       ),
       message=rtcm
-    )
+    )