CarolinePascal 0468616a54 fix(cameras): snapshot stop_event in read loops to avoid None deref ...

The background read loops accessed self.stop_event repeatedly while
_stop_read_thread() can reassign it to None after join(). Reading the
attribute across the loop condition (and a mid-loop re-check) was a
time-of-check/time-of-use race: stop_event could flip to None between
the `is None` test and the `.is_set()` call, raising AttributeError on
the worker thread.
Snapshot self.stop_event into a local once, guard it, and loop on the
local Event. The Event object is thread-safe and lives for the thread's
lifetime; _stop_read_thread() always calls .set() before nulling the
attribute, so the local observes the stop and exits cleanly. This also
lets us drop the redundant pre-lock stop check.
Applies to OpenCVCamera, RealSenseCamera, and ZMQ camera.

2026-06-15 18:29:55 +02:00

..

lerobot

fix(cameras): snapshot stop_event in read loops to avoid None deref

2026-06-15 18:29:55 +02:00