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Fix: join the control thread before closing the CAN socket #81

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Fix: join the control thread before closing the CAN socket #81

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12 changes: 10 additions & 2 deletions i2rt/motor_drivers/dm_driver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -464,6 +464,7 @@ def __init__(
self.command_lock = threading.RLock()

self.start_thread_flag = False
self._control_thread: Optional[threading.Thread] = None
if start_thread:
self.start_thread()

Expand Down Expand Up @@ -532,8 +533,8 @@ def start_thread(self) -> None:
if self.start_thread_flag:
return
logging.info("starting separate thread for control loop")
thread = threading.Thread(target=self._set_torques_and_update_state)
thread.start()
self._control_thread = threading.Thread(target=self._set_torques_and_update_state)
self._control_thread.start()
self.start_thread_flag = True
time.sleep(0.1)
while self.state is None:
Expand Down Expand Up @@ -748,6 +749,13 @@ def get_same_bus_device_states(self) -> Any:

def close(self) -> None:
self.running = False
# Give the control loop a chance to see running=False and fall out
# before its CAN socket is closed underneath it. Without this it can
# be inside _set_commands when the socket goes, and dies with
# "file descriptor cannot be a negative integer (-1)" on every
# shutdown. The timeout keeps close() bounded if the loop is wedged.
if self._control_thread is not None:
self._control_thread.join(timeout=1.0)
self.motor_interface.close()


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