fix(dm_driver): join control thread before closing the CAN bus#51
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Kaweees wants to merge 1 commit into
Open
fix(dm_driver): join control thread before closing the CAN bus#51Kaweees wants to merge 1 commit into
Kaweees wants to merge 1 commit into
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DMChainCanInterface.closeshuts down the CAN bus without waiting for the control thread to exit, so the thread can be mid_set_commands()→bus.send()when the socket is torn down.This pull request keeps a handle to the control thread and
join()s it (1s timeout) before callingmotor_interface.close(), so any in-flight_set_commands()finishes before the bus is torn down. The timeout avoids blocking shutdown if the loop is wedged.