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[Melodic backport of #595] [rosserial_python] Stop old thread before recreating new SerialClient #596

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[Melodic backport of #595] [rosserial_python] Stop old thread before recreating new SerialClient #596

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1 change: 1 addition & 0 deletions rosserial_python/nodes/serial_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -98,6 +98,7 @@
except:
rospy.logwarn("Unexpected Error.%s", sys.exc_info()[0])
client.port.close()
client.stopWriteThread()
sleep(1.0)
continue

9 changes: 8 additions & 1 deletion rosserial_python/src/rosserial_python/SerialClient.py
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Original file line number Diff line number Diff line change
Expand Up @@ -328,6 +328,7 @@ def __init__(self, port=None, baud=57600, timeout=5.0, fix_pyserial_for_test=Fal

self.write_lock = threading.RLock()
self.write_queue = Queue()
self.write_alive = False
self.write_thread = None

self.lastsync = rospy.Time(0)
Expand Down Expand Up @@ -448,6 +449,7 @@ def run(self):

# Launch write thread.
if self.write_thread is None:
self.write_alive = True
self.write_thread = threading.Thread(target=self.processWriteQueue)
self.write_thread.daemon = True
self.write_thread.start()
Expand Down Expand Up @@ -556,6 +558,11 @@ def run(self):
self.port.flushOutput()
self.requestTopics()

def stopWriteThread(self):
# stop self.write_thread
self.write_alive = False
self.write_thread.join()

def setPublishSize(self, bytes):
if self.buffer_out < 0:
self.buffer_out = bytes
Expand Down Expand Up @@ -771,7 +778,7 @@ def processWriteQueue(self):
"""
Main loop for the thread that processes outgoing data to write to the serial port.
"""
while not rospy.is_shutdown():
while not rospy.is_shutdown() and self.write_alive:
if self.write_queue.empty():
time.sleep(0.01)
else:
Expand Down