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Don't try to start already-running threads #26

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6a8ae40
Don't try to start already-running threads
michaelosthege Jan 26, 2026
273b615
Recreate threads when connecting
michaelosthege Jan 28, 2026
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33 changes: 28 additions & 5 deletions cri_lib/cri_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -51,10 +51,9 @@ def __init__(self) -> None:
self.can_mode: bool = False
self.can_queue: Queue = Queue()

self.jog_thread = threading.Thread(target=self._bg_alivejog_thread, daemon=True)
self.receive_thread = threading.Thread(
target=self._bg_receive_thread, daemon=True
)
# Threads are created upon connect() and should be accessed through read-only properties.
self._jog_thread: threading.Thread | None = None
self._receive_thread: threading.Thread | None = None

self.sent_command_counter_lock = threading.Lock()
self.sent_command_counter = 0
Expand All @@ -79,6 +78,22 @@ def __init__(self) -> None:
}
self.jog_speeds_lock = threading.Lock()

@property
def receive_thread(self) -> threading.Thread:
if self._receive_thread is None:
raise CRIConnectionError(
"Receive thread not started yet. Call connect() first."
)
return self._receive_thread

@property
def jog_thread(self) -> threading.Thread:
if self._jog_thread is None:
raise CRIConnectionError(
"Jog thread not started yet. Call connect() first."
)
return self._jog_thread

def connect(
self,
host: str,
Expand Down Expand Up @@ -113,18 +128,24 @@ def connect(
ip = socket.gethostbyname(host)
self.sock.connect((ip, port))
logger.debug("\t Robot connected: %s:%d", host, port)
self.connected = True

# Start receiving commands
self._receive_thread = threading.Thread(
target=self._bg_receive_thread, daemon=True
)
self.receive_thread.start()

# Start sending ALIVEJOG message
self._jog_thread = threading.Thread(
target=self._bg_alivejog_thread, daemon=True
)
self.jog_thread.start()

hello_msg = f'INFO Hello "{application_name}" {application_version} {datetime.now(timezone.utc).strftime(format="%Y-%m-%dT%H:%M:%S")}'

self._send_command(hello_msg)

self.connected = True
return True

except ConnectionRefusedError:
Expand Down Expand Up @@ -152,9 +173,11 @@ def close(self) -> None:

if self.jog_thread.is_alive():
self.jog_thread.join()
self._jog_thread = None

if self.receive_thread.is_alive():
self.receive_thread.join()
self._receive_thread = None

self.sock.close()

Expand Down