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fix(dm_driver): join control thread before closing CAN bus on shutdown #86

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fix(dm_driver): join control thread before closing CAN bus on shutdown #86

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6 changes: 4 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 @@ -532,8 +532,8 @@ 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 +748,8 @@ def get_same_bus_device_states(self) -> Any:

def close(self) -> None:
self.running = False
if hasattr(self, "_control_thread") and self._control_thread.is_alive():
self._control_thread.join(timeout=2.0)
self.motor_interface.close()


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