ParamUpdater thread should only run when there is a connection #544
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Pull Request Overview
This PR ensures that the ParamUpdater thread is started only upon establishing a connection and that several threads are set as daemon so they automatically close with the main program.
- The ParamUpdater is now initialized in the connection callback instead of object creation.
- Several threads (including Radiodriver and IncomingPacketHandler) are explicitly marked as daemon.
Reviewed Changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated no comments.
| File | Description |
|---|---|
| cflib/crtp/radiodriver.py | The thread now sets self.daemon=True in its constructor. |
| cflib/crazyflie/param.py | Moved ParamUpdater thread initialization to connection time and updated error handling. |
| cflib/crazyflie/init.py | Updated the IncomingPacketHandler to use a named thread and set as daemon. |
Comments suppressed due to low confidence (1)
cflib/crazyflie/param.py:314
- Consider using a more specific exception type (e.g., RuntimeError) to better convey the error context in production code.
raise Exception('Param updater not initialized, did you call open_connection?')
ataffanel
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Jun 18, 2025
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ataffanel
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ataffanel
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LGTM, it is a nice step forward to clean the threading situation!
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In this PR I added functionality so that the paramupdater thread will start when a connection is initiated, not when the Param object is created.
This makes the thread only live while there is a connection.
Also make some other threads daemons so they close when main program closes.