diff --git a/e32_client/ugv.py b/e32_client/ugv.py
index 8a2df2d..b695762 100755
--- a/e32_client/ugv.py
+++ b/e32_client/ugv.py
@@ -25,8 +25,13 @@ class UGVComms(E32):
 
     def read_message(self):
         len_data = self.ser.read(size=1)
+        if len(len_data) != 1:
+            return None
         msg_len = int.from_bytes(len_data, byteorder='big')
         data = self.ser.read(size=msg_len)
+        if len(data) != msg_len:
+            self.ser.flush()
+            return None
         msg = messages.UGV_Message()
         msg.ParseFromString(data)
         return msg
@@ -36,7 +41,8 @@ def __rx_thread_entry(ugv: UGVComms):
     while True:
         try:
             msg = ugv.read_message()
-            print("received UGV message: ", msg)
+            if msg is not None:
+                print("received UGV message: ", msg)
         except Exception as e:
             print("error reading message: ", e)
             continue
@@ -47,7 +53,7 @@ if __name__ == "__main__":
                                 stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS,
                                 timeout=2.0)
     ugv = UGVComms(ser)
-    rx_thread = Thread(target=__rx_thread_entry, args=(ugv, ))
+    rx_thread = Thread(target=__rx_thread_entry, args=(ugv, ), daemon=True)
     rx_thread.start()
     # print("resetting")
     # ugv.reset()
@@ -62,5 +68,6 @@ if __name__ == "__main__":
         ugv.write_message(gmsg)
         time.sleep(2.)
 
+    rx_thread.In
     rx_thread.join()