e32_client graceful exit

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:
@@ -59,6 +59,7 @@ if __name__ == "__main__":
     # ugv.reset()
     cmd_id = 1
     time.sleep(0.2)
+    try:
         while True:
             gmsg = messages.GroundMessage()
             gmsg.command.id = cmd_id
@@ -67,7 +68,10 @@ if __name__ == "__main__":
             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()