roslib: make xmlrpc server more robust to signals

core/roslib/src/roslib/xmlrpc.py

@@ -231,9 +231,18 @@ class XmlRpcNode(object):
         if self.handler is not None:
             self.handler._ready(self.uri)
         logger.info("xml rpc node: starting XML-RPC server")
-        try:
+        while not self.is_shutdown:
-            self.server.serve_forever()
+            try:
-        except:
+                self.server.serve_forever()
-            # ignore on shutdown
+            except IOError as (errno, errstr):
-            if not self.is_shutdown:
+                # check for interrupted call, which can occur if we're
-                raise
+                # embedded in a program using signals.  All other
+                # exceptions break _run.
+                if errno != 4:
+                    self.is_shutdown = True
+                    logger.error("serve forever IOError: %s, %s"%(errno, errstr))
+                    # re-raise
+                    raise
+                    
+
+