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fix(stop_event): fixing stop_event race condition in camera classes

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This commit is contained in:
CarolinePascal
2026-05-21 15:51:12 +02:00
parent 15647f50a2
commit 4a49f4a391
3 changed files with 16 additions and 7 deletions
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src/lerobot/cameras/opencv/camera_opencv.py
+5 -2
View File
@@ -430,7 +430,7 @@ class OpenCVCamera(Camera):
Internal loop run by the background thread for asynchronous reading. Internal loop run by the background thread for asynchronous reading.
On each iteration: On each iteration:
1. Reads a color frame 1. Reads a color frame (blocking call)
2. Stores result in latest_frame and updates timestamp (thread-safe) 2. Stores result in latest_frame and updates timestamp (thread-safe)
3. Sets new_frame_event to notify listeners 3. Sets new_frame_event to notify listeners
@@ -439,8 +439,9 @@ class OpenCVCamera(Camera):
if self.stop_event is None: if self.stop_event is None:
raise RuntimeError(f"{self}: stop_event is not initialized before starting read loop.") raise RuntimeError(f"{self}: stop_event is not initialized before starting read loop.")
stop_event = self.stop_event
failure_count = 0 failure_count = 0
while not self.stop_event.is_set(): while not stop_event.is_set():
try: try:
raw_frame = self._read_from_hardware() raw_frame = self._read_from_hardware()
processed_frame = self._postprocess_image(raw_frame) processed_frame = self._postprocess_image(raw_frame)
@@ -478,6 +479,8 @@ class OpenCVCamera(Camera):
if self.thread is not None and self.thread.is_alive(): if self.thread is not None and self.thread.is_alive():
self.thread.join(timeout=2.0) self.thread.join(timeout=2.0)
if self.thread.is_alive():
logger.warning(f"{self} read thread did not terminate within timeout.")
self.thread = None self.thread = None
self.stop_event = None self.stop_event = None
src/lerobot/cameras/realsense/camera_realsense.py
+7 -4
View File
@@ -465,8 +465,8 @@ class RealSenseCamera(Camera):
Internal loop run by the background thread for asynchronous reading. Internal loop run by the background thread for asynchronous reading.
On each iteration: On each iteration:
1. Reads a color frame with 500ms timeout 1. Reads a color/depth frame (blocking call with 10s timeout)
2. Stores result in latest_frame and updates timestamp (thread-safe) 2. Stores result in latest_color_frame/latest_depth_frame and updates timestamp (thread-safe)
3. Sets new_frame_event to notify listeners 3. Sets new_frame_event to notify listeners
Stops on DeviceNotConnectedError, logs other errors and continues. Stops on DeviceNotConnectedError, logs other errors and continues.
@@ -474,8 +474,9 @@ class RealSenseCamera(Camera):
if self.stop_event is None: if self.stop_event is None:
raise RuntimeError(f"{self}: stop_event is not initialized before starting read loop.") raise RuntimeError(f"{self}: stop_event is not initialized before starting read loop.")
stop_event = self.stop_event
failure_count = 0 failure_count = 0
while not self.stop_event.is_set(): while not stop_event.is_set():
try: try:
frame = self._read_from_hardware() frame = self._read_from_hardware()
color_frame_raw = frame.get_color_frame() color_frame_raw = frame.get_color_frame()
@@ -486,7 +487,7 @@ class RealSenseCamera(Camera):
depth_frame_raw = frame.get_depth_frame() depth_frame_raw = frame.get_depth_frame()
depth_frame = np.asanyarray(depth_frame_raw.get_data()) depth_frame = np.asanyarray(depth_frame_raw.get_data())
processed_depth_frame = self._postprocess_image(depth_frame, depth_frame=True) processed_depth_frame = self._postprocess_image(depth_frame, depth_frame=True)
if processed_depth_frame.ndim == 2: # (H, W) -> (H, W, 1) if processed_depth_frame.ndim == 2: # (H, W) -> (H, W, 1)
processed_depth_frame = processed_depth_frame[..., np.newaxis] processed_depth_frame = processed_depth_frame[..., np.newaxis]
capture_time = time.perf_counter() capture_time = time.perf_counter()
@@ -524,6 +525,8 @@ class RealSenseCamera(Camera):
if self.thread is not None and self.thread.is_alive(): if self.thread is not None and self.thread.is_alive():
self.thread.join(timeout=2.0) self.thread.join(timeout=2.0)
if self.thread.is_alive(): # pragma: no cover
logger.warning(f"{self} read thread did not terminate within timeout.")
self.thread = None self.thread = None
self.stop_event = None self.stop_event = None
src/lerobot/cameras/zmq/camera_zmq.py
+4 -1
View File
@@ -249,8 +249,9 @@ class ZMQCamera(Camera):
if self.stop_event is None: if self.stop_event is None:
raise RuntimeError(f"{self}: stop_event is not initialized.") raise RuntimeError(f"{self}: stop_event is not initialized.")
stop_event = self.stop_event
failure_count = 0 failure_count = 0
while not self.stop_event.is_set(): while not stop_event.is_set():
try: try:
frame = self._read_from_hardware() frame = self._read_from_hardware()
capture_time = time.perf_counter() capture_time = time.perf_counter()
@@ -292,6 +293,8 @@ class ZMQCamera(Camera):
if self.thread is not None and self.thread.is_alive(): if self.thread is not None and self.thread.is_alive():
self.thread.join(timeout=2.0) self.thread.join(timeout=2.0)
if self.thread.is_alive():
logger.warning(f"{self} read thread did not terminate within timeout.")
self.thread = None self.thread = None
self.stop_event = None self.stop_event = None