Fix threads never closing.

cflib/crazyflie/link_statistics.py

@@ -146,7 +146,7 @@ def start(self):
         """
         if self._ping_thread_instance is None or not self._ping_thread_instance.is_alive():
             self._stop_event.clear()
-            self._ping_thread_instance = Thread(target=self._ping_thread)
+            self._ping_thread_instance = Thread(target=self._ping_thread, name='ping_thread')
             self._ping_thread_instance.start()
 
     def stop(self):

cflib/crazyflie/param.py

@@ -29,6 +29,7 @@
 the parameters that can be written/read.
 
 """
+import copy
 import errno
 import logging
 import struct
@@ -295,7 +296,9 @@ def _connection_requested(self, uri):
 
     def _disconnected(self, uri):
         """Disconnected callback from Crazyflie API"""
-        self.param_updater.close()
+        if self.param_updater is not None:
+            self.param_updater.close()
+            self.param_updater = None
 
         # Do not clear self.is_updated here as we might get spurious parameter updates later
 
@@ -307,6 +310,9 @@ def request_param_update(self, complete_name):
         """
         Request an update of the value for the supplied parameter.
         """
+        if self.param_updater is None:
+            self.param_updater = _ParamUpdater(self.cf, self._useV2, self._param_updated)
+            self.param_updater.start()
         self.param_updater.request_param_update(
             self.toc.get_element_id(complete_name))
 
@@ -519,7 +525,7 @@ def new_packet_cb(pk):
 class _ExtendedTypeFetcher(Thread):
 
     def __init__(self, cf, toc):
-        Thread.__init__(self)
+        Thread.__init__(self, name='ExtendedTypeFetcherThread')
         self.daemon = True
         self._lock = Lock()
 
@@ -573,6 +579,9 @@ def _close(self):
                 self.request_queue.get(block=False)
         except Empty:
             pass
+        self.request_queue.put(None)  # Make sure we exit the run loop
+        self._should_close = True
+        self._cf.remove_port_callback(CRTPPort.PARAM, self._new_packet_cb)
 
         # Then force an unlock of the mutex if we are waiting for a packet
         # we didn't get back due to a disconnect for example.
@@ -584,6 +593,8 @@ def _close(self):
     def run(self):
         while not self._should_close:
             pk = self.request_queue.get()  # Wait for request update
+            if pk is None:
+                continue
             self._lock.acquire()
             if self._cf.link:
                 self._req_param = struct.unpack('<H', pk.data[1:3])[0]
@@ -598,7 +609,7 @@ class _ParamUpdater(Thread):
 
     def __init__(self, cf, useV2, updated_callback):
         """Initialize the thread"""
-        Thread.__init__(self)
+        Thread.__init__(self, name='ParamUpdaterThread')
         self.daemon = True
         self.wait_lock = Lock()
         self.cf = cf
@@ -616,7 +627,9 @@ def close(self):
                 self.request_queue.get(block=False)
         except Empty:
             pass
-
+        self.request_queue.put(None)  # Make sure we exit the run loop
+        self._should_close = True
+        self.cf.remove_port_callback(CRTPPort.PARAM, self._new_packet_cb)
         # Then force an unlock of the mutex if we are waiting for a packet
         # we didn't get back due to a disconnect for example.
         try:
@@ -640,6 +653,7 @@ def _new_packet_cb(self, pk):
             if self._useV2:
                 release_pattern = pk.data[:2]
                 if pk.channel == READ_CHANNEL:
+                    pk = copy.deepcopy(pk)  # Dont modify the original packet
                     pk.data = pk.data[:2] + pk.data[3:]
             else:
                 release_pattern = pk.data[:1]
@@ -677,6 +691,8 @@ def request_param_update(self, var_id):
     def run(self):
         while not self._should_close:
             pk = self.request_queue.get()  # Wait for request update
+            if pk is None:
+                continue
             self.wait_lock.acquire()
             if self.cf.link:
                 if self._useV2:

cflib/crtp/radiodriver.py

@@ -527,7 +527,7 @@ class _RadioDriverThread(threading.Thread):
     def __init__(self, radio, inQueue, outQueue,
                  radio_link_statistics_callback, link_error_callback, link, rate_limit: Optional[int]):
         """ Create the object """
-        threading.Thread.__init__(self)
+        threading.Thread.__init__(self, name='RadioDriverThread')
         self._radio = radio
         self._in_queue = inQueue
         self._out_queue = outQueue