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Fix joining thread on serial disconnect #710

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Merged
1Blademaster merged 1 commit into from
Sep 23, 2025
Merged

Fix joining thread on serial disconnect #710

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18 changes: 12 additions & 6 deletions radio/app/drone.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
from pathlib import Path
from queue import Empty, Queue
from secrets import token_hex
from threading import Event, Lock, Thread
from threading import Event, Lock, Thread, current_thread
from typing import Callable, Dict, List, Optional

import serial
Expand Down Expand Up @@ -672,11 +672,17 @@ def stopAllThreads(self) -> None:
self.is_active.clear()
self.is_listening = False

self.listener_thread.join(timeout=3)
self.sender_thread.join(timeout=3)
self.log_thread.join(timeout=3)
self.link_debug_data_thread.join(timeout=3)
self.heartbeat_thread.join(timeout=3)
this_thread = current_thread()

for thread in [
getattr(self, "listener_thread", None),
getattr(self, "sender_thread", None),
getattr(self, "log_thread", None),
getattr(self, "link_debug_data_thread", None),
getattr(self, "heartbeat_thread", None),
]:
if thread is not None and thread.is_alive() and thread is not this_thread:
thread.join(timeout=3)

def rebootAutopilot(self) -> None:
"""Reboot the autopilot."""
Expand Down
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