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fix: stop Arduino communicator thread before closing serial port #19

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fix: stop Arduino communicator thread before closing serial port #19

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15 changes: 12 additions & 3 deletions src/ethopy/interfaces/Arduino.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,6 @@


class Arduino(Interface):
thread_end, msg_queue, callbacks = threading.Event(), PriorityQueue(maxsize=1), True

def __init__(self, **kwargs):
if not globals()["IMPORT_SERIAL"]:
raise ImportError(
Expand All @@ -37,9 +35,11 @@ def __init__(self, **kwargs):
self.timeout = 0.001
self.no_response = False
self.timeout_timer = time.time()
self.thread_end = threading.Event()
self.msg_queue = PriorityQueue(maxsize=1)
self.ser = Serial(self.port, baudrate=self.baud)
time.sleep(1)
self.thread_runner = threading.Thread(target=self._communicator)
self.thread_runner = threading.Thread(target=self._communicator, daemon=True)
self.thread_runner.start()

def give_liquid(self, port, duration=False):
Expand Down Expand Up @@ -94,6 +94,15 @@ def off_proximity(self):
return not self.position.state

def cleanup(self):
"""Stop the communicator thread and close the serial connection.

The thread must be stopped before the serial port is closed.
"""
self.thread_end.set()
if self.thread_runner.is_alive():
self.thread_runner.join(timeout=2)
if self.thread_runner.is_alive():
log.warning("Arduino communicator thread did not stop in time.")
self.ser.close() # Close the Serial connection

def setup_touch_exit(self):
Expand Down
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