From 4c3a7415894dede78492ddd8ebda81619f942a07 Mon Sep 17 00:00:00 2001
From: ryleu <69326171+ryleu@users.noreply.github.com>
Date: Sat, 11 Apr 2026 16:22:22 -0500
Subject: [PATCH] put the timeout back and figure out how shutdown works

---
 src/anchor_pkg/anchor_pkg/anchor_node.py | 17 ++++++++---------
 src/anchor_pkg/anchor_pkg/connector.py   |  2 +-
 2 files changed, 9 insertions(+), 10 deletions(-)

diff --git a/src/anchor_pkg/anchor_pkg/anchor_node.py b/src/anchor_pkg/anchor_pkg/anchor_node.py
index 50fa388..f05fd03 100644
--- a/src/anchor_pkg/anchor_pkg/anchor_node.py
+++ b/src/anchor_pkg/anchor_pkg/anchor_node.py
@@ -1,11 +1,9 @@
 from warnings import deprecated
 import rclpy
 from rclpy.node import Node
-from rclpy.executors import ExternalShutdownException, MultiThreadedExecutor
+from rclpy.executors import ExternalShutdownException, SingleThreadedExecutor
 from rcl_interfaces.msg import ParameterDescriptor, ParameterType
 
-import atexit
-
 from .connector import (
     Connector,
     MockConnector,
@@ -186,11 +184,10 @@ class Anchor(Node):
         # poll at 100Hz for incoming data
         self.read_timer_ = self.create_timer(0.01, self.read_connector)
 
-        # close devices on exit
-        atexit.register(self.cleanup)
-
-    def cleanup(self):
+    def destroy_node(self):
+        self.get_logger().info("closing connector")
         self.connector.cleanup()
+        super().destroy_node()
 
     def read_connector(self):
         """Check the connector for new data from the MCU, and publish string to appropriate topics"""
@@ -241,7 +238,7 @@ class Anchor(Node):
 def main(args=None):
     rclpy.init(args=args)
     anchor_node = Anchor()
-    executor = MultiThreadedExecutor()
+    executor = SingleThreadedExecutor()
     executor.add_node(anchor_node)
 
     try:
@@ -249,7 +246,9 @@ def main(args=None):
     except (KeyboardInterrupt, ExternalShutdownException):
         pass
     finally:
-        # might not have to shut down everything manually, find out later ~riley
+        # don't accept any more jobs
         executor.shutdown()
+        # make the node quit processing things
         anchor_node.destroy_node()
+        # shut down everything else
         rclpy.try_shutdown()
diff --git a/src/anchor_pkg/anchor_pkg/connector.py b/src/anchor_pkg/anchor_pkg/connector.py
index 276a9ae..d7909ba 100644
--- a/src/anchor_pkg/anchor_pkg/connector.py
+++ b/src/anchor_pkg/anchor_pkg/connector.py
@@ -154,7 +154,7 @@ class SerialConnector(Connector):
         serial_interface: serial.Serial
         try:
             self.logger.info(f"asking {port} for its name")
-            serial_interface = serial.Serial(port, BAUD_RATE)
+            serial_interface = serial.Serial(port, BAUD_RATE, timeout=1)
 
             serial_interface.write(b"can_relay_mode,on\n")