From 6828982e9c381fbf35860c4296a4f1133c8b0d37 Mon Sep 17 00:00:00 2001
From: Ferry Schoenmakers <ferry.schoenmakers@nobleo.nl>
Date: Fri, 28 Jun 2024 13:01:21 +0200
Subject: [PATCH] Don't hard exit on send failures, but do notify the user

---
 src/socketcan_bridge.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/socketcan_bridge.cpp b/src/socketcan_bridge.cpp
index 146aa31..7526bfb 100644
--- a/src/socketcan_bridge.cpp
+++ b/src/socketcan_bridge.cpp
@@ -56,7 +56,8 @@ void SocketCanBridge::send(const can_msgs::msg::Frame & msg) const
   RCLCPP_DEBUG_STREAM(logger_, "Sending " << msg);
   auto n = write(socket_, &frame, sizeof(frame));
   if (n < 0) {
-    throw std::system_error(errno, std::generic_category());
+    RCLCPP_ERROR_THROTTLE(
+      logger_, *clock_, 5000, "Error writing to the socket: %s (%d)", strerror(errno), errno);
   }
   RCLCPP_DEBUG(logger_, "Wrote %zd bytes to the socket", n);
 }