fix(dm_driver): join control thread before closing CAN bus on shutdown - #86
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jbohg wants to merge 1 commit into
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fix(dm_driver): join control thread before closing CAN bus on shutdown#86jbohg wants to merge 1 commit into
jbohg wants to merge 1 commit into
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Save the control loop thread as self._control_thread and join it (up to 2 s) in close() before calling motor_interface.close(). Without this, bus.shutdown() races the still-running control loop, causing a 'file descriptor cannot be a negative integer (-1)' error on exit. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Problem
close()setsself.running = Falsethen immediately callsmotor_interface.close()/bus.shutdown()without waiting for the control loop thread to exit. The thread is still mid-iteration when the socket is torn down, causing:ValueError: file descriptor cannot be a negative integer (-1)Fix
self._control_threadinstart_thread()close(), join the thread (up to 2 s) before callingmotor_interface.close()