mark-orion / sts-pilot Goto Github PK

Use of the imported signal seems to be the problem. To solve I remove the signal import and also remove the defined # Handler for a clean shutdown when pressing Ctrl-C. Then I replace the removed functionality from line 180 as follows.

if __name__ == '__main__':
    hw.light_green_blink(0.1)
    time.sleep(1)
    hw.light_green_off()

    # register handler for touchpads
    if hw.explorerhat:
        hw.xhat.touch.released(touch_handler)

    # prepare and start watchdog
    wd = threading.Thread(name='watchdog_timer', target=watchdog_timer)
    wd.start()

    app.run(host='0.0.0.0', port=5000, debug=False, access_log=False)

    # continue from here on keyboard interrupt
    print ("completing clean finish")
    hw.light_blue_blink(0.1)
    cfg.watchdog_active =  False
    brakes_on()
    wd.join()
    hw.light_blue_off()
    print ("clean finish complete")

This results in the following terminal responses.

pi@PiZero:~/STS-Pilot $ python3 app_sanic.py
Explorer pHAT detected...
[2020-09-03 13:02:15 +0100] [510] [INFO] Goin' Fast @ http://0.0.0.0:5000
[2020-09-03 13:02:15 +0100] [510] [INFO] Starting worker [510]
^C[2020-09-03 13:02:42 +0100] [510] [INFO] Stopping worker [510]
[2020-09-03 13:02:42 +0100] [510] [INFO] Server Stopped
completing clean finish
clean finish complete

Explorer HAT exiting cleanly, please wait...
Stopping flashy things...
Stopping user tasks...
Cleaning up...
Goodbye!
pi@PiZero:~/STS-Pilot $