Send initial packet to HW, even a normal exit

Author: JeongJun-Lee

neopia/__init__.py

@@ -17,6 +17,7 @@
 # Boston, MA  02111-1307  USA
 
 import signal
+import atexit
 
 from neopia.scanner import Scanner
 from neopia.mode import Mode
@@ -63,8 +64,15 @@ def while_do(condition, do, args=None):
 def parallel(*functions):
     Runner.parallel(functions)
 
+# It's called when an abnormal exit as CTRL+C
 def _handle_signal(signal, frame):
     Runner.shutdown()
     raise SystemExit
 
-signal.signal(signal.SIGINT, _handle_signal)
+signal.signal(signal.SIGINT, _handle_signal)
+
+# It's called for a safe exit by sending initial packet to HW, even a normal exit
+def exit_handler():
+    Runner.shutdown()
+
+atexit.register(exit_handler)

neopia/neosoco_neobot.py

@@ -146,6 +146,9 @@ def _release(self):
         connector = self._connector
         self._connector = None
         if connector:
+            # Lastly send init packet to stop all action in the controller
+            self._encode_init_packet()
+            self._send(connector)
             connector.close()
 
     def _dispose(self):
@@ -188,32 +191,32 @@ def _speed_to_gain(self, speed):
             elif speed < 1: speed = 1
             return NeosocoNeobot._SPEED_TO_GAIN[speed]
         return 2
-
-    def _encode_motoring_packet(self):
+    
+    def _encode_init_packet(self):
         result = ""
         with self._thread_lock:
             result += START_BYTES
-            result += self._to_hex(self._output_1) # OUT1
-            result += self._to_hex(self._output_2) # OUT2
-            result += self._to_hex(self._output_3) # OUT3
-            result += self._to_hex(self._left_motor)  # MLA
-            result += self._to_hex(self._right_motor) # MRA
-            result += self._to_hex(self._note) # BUZZER
+            result += self._to_hex(0) # OUT1
+            result += self._to_hex(0) # OUT2
+            result += self._to_hex(0) # OUT3
+            result += self._to_hex(0) # MLA
+            result += self._to_hex(0) # MRA
+            result += self._to_hex(0) # BUZZER
             result += self._to_hex(0) # FND
             result += self._to_hex(0) # Not Used
             result += self._to_hex(self._make_checksum(result)) # Checksum
         return result
 
-    def _encode_init_packet(self):
+    def _encode_motoring_packet(self):
         result = ""
         with self._thread_lock:
             result += START_BYTES
-            result += self._to_hex(0) # OUT1
-            result += self._to_hex(0) # OUT2
-            result += self._to_hex(0) # OUT3
-            result += self._to_hex(0) # MLA
-            result += self._to_hex(0) # MRA
-            result += self._to_hex(0) # BUZZER
+            result += self._to_hex(self._output_1) # OUT1
+            result += self._to_hex(self._output_2) # OUT2
+            result += self._to_hex(self._output_3) # OUT3
+            result += self._to_hex(self._left_motor)  # MLA
+            result += self._to_hex(self._right_motor) # MRA
+            result += self._to_hex(self._note) # BUZZER
             result += self._to_hex(0) # FND
             result += self._to_hex(0) # Not Used
             result += self._to_hex(self._make_checksum(result)) # Checksum