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Avoid possible deadlock in param #370

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merged 2 commits into from
Dec 7, 2022
Merged

Avoid possible deadlock in param #370

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d9c5bdd
Avoid possible deadlock in param
krichardsson Dec 7, 2022
644a5a0
Fix flake8
krichardsson Dec 7, 2022
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21 changes: 15 additions & 6 deletions cflib/crazyflie/param.py
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@
import logging
import struct
from collections import namedtuple
from queue import Empty
from queue import Queue
from threading import Event
from threading import Lock
Expand Down Expand Up @@ -556,13 +557,17 @@ def request_extended_types(self, elements):

def _close(self):
# First empty the queue from all packets
while not self.request_queue.empty():
self.request_queue.get()
try:
while True:
self.request_queue.get(block=False)
except Empty:
pass

# Then force an unlock of the mutex if we are waiting for a packet
# we didn't get back due to a disconnect for example.
try:
self._lock.release()
except Exception:
except RuntimeError:
pass

def run(self):
Expand Down Expand Up @@ -595,13 +600,17 @@ def __init__(self, cf, useV2, updated_callback):

def close(self):
# First empty the queue from all packets
while not self.request_queue.empty():
self.request_queue.get()
try:
while True:
self.request_queue.get(block=False)
except Empty:
pass

# Then force an unlock of the mutex if we are waiting for a packet
# we didn't get back due to a disconnect for example.
try:
self.wait_lock.release()
except Exception:
except RuntimeError:
pass

def request_param_setvalue(self, pk):
Expand Down