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py/mpstate: Schedule KeyboardInterrupt on main thread.
This introduces a new macro to get the main thread and uses it to ensure that asynchronous exceptions such as KeyboardInterrupt (CTRL+C) are only scheduled on the main thread. This is more deterministic than being scheduled on a random thread and is more in line with CPython that only allow signal handlers to run on the main thread. Issue: #7026 Signed-off-by: David Lechner <david@pybricks.com>
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