From 8c4f75f75e4cd303c97a37d6b12704a896fdaea2 Mon Sep 17 00:00:00 2001
From: Tristan McGinnis <tristanmcginnis26@gmail.com>
Date: Tue, 15 Apr 2025 20:35:49 -0500
Subject: [PATCH] feat: nodes should die entirely if no MCU found This should
 allow anchor to restart automatically if it's being run as a service

---
 src/anchor_pkg/anchor_pkg/anchor_node.py | 6 ++++--
 src/arm_pkg/arm_pkg/arm_node.py          | 7 ++++---
 src/bio_pkg/bio_pkg/bio_node.py          | 8 +++++---
 src/core_pkg/core_pkg/core_node.py       | 6 ++++--
 4 files changed, 17 insertions(+), 10 deletions(-)

diff --git a/src/anchor_pkg/anchor_pkg/anchor_node.py b/src/anchor_pkg/anchor_pkg/anchor_node.py
index 5fc6466..e3dd1d9 100644
--- a/src/anchor_pkg/anchor_pkg/anchor_node.py
+++ b/src/anchor_pkg/anchor_pkg/anchor_node.py
@@ -7,6 +7,7 @@ import time
 import atexit
 
 import serial
+import os
 import sys
 import threading
 import glob
@@ -61,8 +62,9 @@ class SerialRelay(Node):
         
         if self.port is None:
             self.get_logger().info("Unable to find MCU...")
-            time.sleep(1)
-            sys.exit(1)
+            #kill the node/process entirely
+            os.kill(os.getpid(), signal.SIGKILL)
+            sys.exit(0)
         
         self.ser = serial.Serial(self.port, 115200)
         atexit.register(self.cleanup)
diff --git a/src/arm_pkg/arm_pkg/arm_node.py b/src/arm_pkg/arm_pkg/arm_node.py
index f0d7201..3a2e9d7 100644
--- a/src/arm_pkg/arm_pkg/arm_node.py
+++ b/src/arm_pkg/arm_pkg/arm_node.py
@@ -95,9 +95,10 @@ class SerialRelay(Node):
                     break
             
             if self.port is None:
-                self.get_logger().info("Unable to find MCU... please make sure it is connected.")
-                time.sleep(1)
-                sys.exit(1)
+                self.get_logger().info("Unable to find MCU...")
+                #kill the node/process entirely
+                os.kill(os.getpid(), signal.SIGKILL)
+                sys.exit(0)
             
             self.ser = serial.Serial(self.port, 115200)
             atexit.register(self.cleanup)
diff --git a/src/bio_pkg/bio_pkg/bio_node.py b/src/bio_pkg/bio_pkg/bio_node.py
index ad8f40b..5518b87 100644
--- a/src/bio_pkg/bio_pkg/bio_node.py
+++ b/src/bio_pkg/bio_pkg/bio_node.py
@@ -3,6 +3,7 @@ from rclpy.node import Node
 import serial
 import sys
 import threading
+import os
 import glob
 import time
 import atexit
@@ -65,9 +66,10 @@ class SerialRelay(Node):
                     pass
             
             if self.port is None:
-                self.get_logger().info("Unable to find MCU... please make sure it is connected.")
-                time.sleep(1)
-                sys.exit(1)
+                self.get_logger().info("Unable to find MCU...")
+                #kill the node/process entirely
+                os.kill(os.getpid(), signal.SIGKILL)
+                sys.exit(0)
             
             self.ser = serial.Serial(self.port, 115200)
             atexit.register(self.cleanup)
diff --git a/src/core_pkg/core_pkg/core_node.py b/src/core_pkg/core_pkg/core_node.py
index 1768293..f1398a0 100644
--- a/src/core_pkg/core_pkg/core_node.py
+++ b/src/core_pkg/core_pkg/core_node.py
@@ -7,6 +7,7 @@ import time
 import atexit
 
 import serial
+import os
 import sys
 import threading
 import glob
@@ -74,8 +75,9 @@ class SerialRelay(Node):
         
             if self.port is None:
                 self.get_logger().info("Unable to find MCU...")
-                time.sleep(1)
-                sys.exit(1)
+                #kill the node/process entirely
+                os.kill(os.getpid(), signal.SIGKILL)
+                sys.exit(0)
         
             self.ser = serial.Serial(self.port, 115200)
             atexit.register(self.cleanup)