From 39d6298c0d62a077bfc1b7bf09aaf3a30146090f Mon Sep 17 00:00:00 2001
From: Alex Mikhalev <alexmikhalevalex@gmail.com>
Date: Sat, 9 Feb 2019 19:48:52 -0800
Subject: [PATCH] e32_client graceful exit

---
 e32_client/requirements.txt |  0
 e32_client/ugv.py           | 24 ++++++++++++++----------
 2 files changed, 14 insertions(+), 10 deletions(-)
 create mode 100644 e32_client/requirements.txt

diff --git a/e32_client/requirements.txt b/e32_client/requirements.txt
new file mode 100644
index 0000000..e69de29
diff --git a/e32_client/ugv.py b/e32_client/ugv.py
index b695762..bc20f50 100755
--- a/e32_client/ugv.py
+++ b/e32_client/ugv.py
@@ -38,7 +38,7 @@ class UGVComms(E32):
 
 
 def __rx_thread_entry(ugv: UGVComms):
-    while True:
+    while ugv.ser.is_open:
         try:
             msg = ugv.read_message()
             if msg is not None:
@@ -59,15 +59,19 @@ if __name__ == "__main__":
     # ugv.reset()
     cmd_id = 1
     time.sleep(0.2)
-    while True:
-        gmsg = messages.GroundMessage()
-        gmsg.command.id = cmd_id
-        gmsg.command.type = messages.DISABLE
-        cmd_id += 1
-        print("writing message: ", gmsg)
-        ugv.write_message(gmsg)
-        time.sleep(2.)
+    try:
+        while True:
+            gmsg = messages.GroundMessage()
+            gmsg.command.id = cmd_id
+            gmsg.command.type = messages.DISABLE
+            cmd_id += 1
+            print("writing message: ", gmsg)
+            ugv.write_message(gmsg)
+            time.sleep(2.)
+    except KeyboardInterrupt:
+        print("exiting...")
+    finally:
+        ugv.ser.close()
 
-    rx_thread.In
     rx_thread.join()