JohnMarzulli · JohnMarzulli · Sep 11, 2018 · Sep 11, 2018
diff --git a/heads_up_display.py b/heads_up_display.py
@@ -85,10 +85,19 @@ def run(self):
             while self.tick(clock):
                 pass
         finally:
-            self.__connection_manager__.shutdown()
             pygame.display.quit()
 
-        sys.exit()
+            print('Shutting down Connection Manager')
+            self.__connection_manager__.shutdown()
+
+            print('Shutting down HTTP')
+            self.web_server.stop()
+
+            RecurringTask.kill_all()
+
+        print('Finished with run()')
+
+        return 0
 
     def __render_view_title__(self, text):
         try:
@@ -170,8 +179,10 @@ def tick(self, clock):
                     # to overdraw the pitch lines
                     # and improve readability
                     self.log("---- VIEW RENDER START ----")
-                    for hud_element in view:
-                        self.__render_view_element__(hud_element, orientation)
+
+                    [self.__render_view_element__(
+                        hud_element, orientation) for hud_element in view]
+
                     self.log("---------------------------")
             except Exception as e:
                 self.warn("LOOP:" + str(e))
@@ -441,8 +452,9 @@ def __init__(self, logger):
         if self.__logger__ is not None:
             logger = self.__logger__.logger
 
-        web_server = restful_host.HudServer()
-        RecurringTask("rest_host", 0.1, web_server.run, start_immediate=False)
+        self.web_server = restful_host.HudServer()
+        RecurringTask("rest_host", 0.1, self.web_server.run,
+                      start_immediate=False)
         RecurringTask("purge_old_traffic", 10.0,
                       self.__purge_old_reports__, start_immediate=False)
         RecurringTask("update_traffic", 0.1,
@@ -485,9 +497,11 @@ def __handle_input__(self):
             bool -- True if the loop should continue, False if it should quit.
         """
 
-        for event in pygame.event.get():
-            if not self.__handle_key_event__(event):
-                return False
+        events = pygame.event.get()
+        event_handling_repsonses = map(self.__handle_key_event__, events)
+
+        if False in event_handling_repsonses:
+            return False
 
         self.__clamp_view__()
 

diff --git a/lib/colors.py b/lib/colors.py
@@ -80,11 +80,8 @@ def get_color_mix(left_color, right_color, proportion):
     if array_length != len(right_color):
         return left_color
 
-    new_color = []
-
-    for index in range(0, array_length):
-        new_color.append(
-            int(interpolate(left_color[index], right_color[index], proportion)))
+    indices = range(0, array_length)
+    new_color = [int(interpolate(left_color[index], right_color[index], proportion)) for index in indices]
 
     return new_color
 

diff --git a/lib/recurring_task.py b/lib/recurring_task.py
@@ -15,22 +15,37 @@ class RecurringTask(object):
     Object to control and handle a recurring task.
     """
 
-    def stop(self):
-        try:
-            if self.__last_task__ is not None:
-                self.pause()
-                self.__last_task__.cancel()
+    __SPAWNED_TASKS__ = []
 
-            return True
-        except:
-            return False
+    @staticmethod
+    def kill_all():
+        timeout_sec = 5
+        for task in RecurringTask.__SPAWNED_TASKS__:  # list of your processes
+            print('Killing task {}'.format(task.__task_name__))
+
+            try:
+                task.stop()
+            except Exception as ex:
+                print('While shutting down EX:{}'.format(ex))
+
+    def stop(self):
+        self.__lock__.acquire()
+        self.__is_alive__ = False
+        self.__is_running__ = False
+        self.__lock__.release()
 
     def is_running(self):
         """
         Returns True if the task is running.
         """
 
-        return self.__task_callback__ is not None and self.__is_running__
+        self.__lock__.acquire()
+        result = self.__is_alive__ \
+            and self.__task_callback__ is not None \
+            and self.__is_running__
+        self.__lock__.release()
+
+        return result
 
     def start(self):
         """
@@ -49,8 +64,9 @@ def pause(self):
         Pauses the task if it is running.
         """
 
-        if self.is_running():
-            self.__is_running__ = False
+        self.__lock__.acquire()
+        self.__is_running__ = False
+        self.__lock__.release()
 
     def __run_task__(self):
         """
@@ -60,10 +76,13 @@ def __run_task__(self):
         self.__last_task__ = threading.Thread(target=self.__run_loop__)
         self.__last_task__.start()
 
+        RecurringTask.__SPAWNED_TASKS__.append(self)
+
     def __run_loop__(self):
-        while True:
+        while self.__is_alive__:
             if self.__is_running__ and self.__task_callback__ is not None:
                 try:
+                    self.__lock__.acquire()
                     self.__task_callback__()
                 except Exception as e:
                     # + sys.exc_info()[0]
@@ -73,8 +92,14 @@ def __run_loop__(self):
                         self.__logger__.info(error_mesage)
                     else:
                         print(error_mesage)
+                finally:
+                    self.__lock__.release()
 
-            time.sleep(int(self.__task_interval__))
+            self.__lock__.acquire()
+            try:
+                time.sleep(int(self.__task_interval__) if self.__is_alive__ and self.__is_running__ else 0)
+            finally:
+                self.__lock__.release()
 
     def __init__(self, task_name, task_interval, task_callback, logger=None, start_immediate=False):
         """
@@ -86,8 +111,10 @@ def __init__(self, task_name, task_interval, task_callback, logger=None, start_i
         self.__task_interval__ = task_interval
         self.__task_callback__ = task_callback
         self.__logger__ = logger
+        self.__is_alive__ = True
         self.__is_running__ = False
         self.__last_task__ = None
+        self.__lock__ = threading.Lock()
 
         if start_immediate:
             self.start()

diff --git a/readme.md b/readme.md
@@ -18,27 +18,27 @@ Using the "HUDLY Classic" projector and a Raspberry Pi 3.
 
 Estimated cost is $300
 
-* $40 for RaspberryPi 3
-* $215 for HUDLY projector
-* Fans, case, cables
+- $40 for RaspberryPi 3
+- $215 for HUDLY projector
+- Fans, case, cables
 
 Requires your aircraft to have a "12 Volt" cigarette power outlet.
 
 ### Alternative, Less Expensive Version
 
 A self contained system that uses a 3D printed case and teleprompter glass. This version can be built for the cost of a Raspberry Pi and the 3D print.
 
-*NOTE:* This version does have visibility issues in daylight conditions. The HUDLY Version is fully daylight visible.
+_NOTE:_ This version does have visibility issues in daylight conditions. The HUDLY Version is fully daylight visible.
 
 ![Teleprompter Glass Version In Flight](media/in_flight.jpg)
 
 Estimated Cost is $140
 
-* $40 for a RaspberryPi 3
-* $45 for the LCD screen
-* $20 for Teleprompter Glass and shipping.
-* Cost of 3D printing the special case.
-* Cables
+- $40 for a RaspberryPi 3
+- $45 for the LCD screen
+- $20 for Teleprompter Glass and shipping.
+- Cost of 3D printing the special case.
+- Cables
 
 Can be powered by a USB powerbank or USB power.
 
@@ -47,7 +47,7 @@ Can be powered by a USB powerbank or USB power.
 You may use a number pad as input device. I used velcro to secure the number pad to my dashboard.
 
 | Key       | Action                                                                       |
-|-----------|------------------------------------------------------------------------------|
+| --------- | ---------------------------------------------------------------------------- |
 | Backspace | Tell the Stratux that you are in a level position. Resets the AHRS to level. |
 | +         | Next view                                                                    |
 | -         | Previous view                                                                |
@@ -57,10 +57,10 @@ You may use a number pad as input device. I used velcro to secure the number pad
 
 ## Views
 
-* Traffic
-* AHRS
-* Traffic List (Text only)
-* Blank
+- Traffic
+- AHRS
+- Traffic List (Text only)
+- Blank
 
 ### Traffic View
 
@@ -84,7 +84,7 @@ The closer the traffic, the larger the heading bug.
 
 This shows you all of the traffic with reliable ADSB data.
 
-*NOTE: Any planes further than 10SM are excluded from this view.*
+_NOTE: Any planes further than 10SM are excluded from this view._
 
 It attempts to prioritize traffic by distance.
 
@@ -121,9 +121,9 @@ We are experiencing 0.8Gs, less than normal gravity.
 
 ![Traffic View Screenshot](media/traffic_listing_view.jpg)
 
-This shows us *at most* the five closest planes.
+This shows us _at most_ the five closest planes.
 
-*NOTE: Any planes further than 10SM are excluded from this view.*
+_NOTE: Any planes further than 10SM are excluded from this view._
 
 Here we see N435SP is the closest plane, bearing 345, 1.0 statute miles away, and 1,300' above us.
 
@@ -137,26 +137,26 @@ A blank screen so no information is displayed.
 
 ### All Builds
 
-*NOTE:* This _does not_ include a power source. You will need to supply ship power from a 5V USB port or from a battery.
+_NOTE:_ This _does not_ include a power source. You will need to supply ship power from a 5V USB port or from a battery.
 
-* [Raspberry Pi 3](https://www.amazon.com/Raspberry-Pi-RASPBERRYPI3-MODB-1GB-Model-Motherboard/dp/B01CD5VC92/ref=sr_1_3?s=electronics&ie=UTF8&qid=1529215701&sr=1-3&keywords=raspberry+pi+3)
-* [Case For Raspberry Pi](https://www.amazon.com/iPhoenix-Raspberry-White-Compatible-Model/dp/B06XQSXZ97/ref=sr_1_3?s=electronics&dd=iYEspjjyeRXfqDW9BHwJFw%2C%2C&ddc_refnmnt=pfod&ie=UTF8&qid=1529215794&sr=1-3&keywords=white+raspberry+pi+3+case&refinements=p_97%3A11292772011)
-* [Cooling Fan for Raspberry Pi](https://www.amazon.com/gp/product/B075R4S9GH/ref=od_aui_detailpages00?ie=UTF8&psc=1)
-* [Micro USB Cable](https://www.amazon.com/AmazonBasics-Male-Micro-Cable-Black/dp/B0711PVX6Z/ref=sr_1_6?s=electronics&ie=UTF8&qid=1529215888&sr=1-6&keywords=micro+usb+cable)
-* [Micro SD Card](https://www.amazon.com/SanDisk-Ultra-Micro-Adapter-SDSQUNC-016G-GN6MA/dp/B010Q57SEE/ref=sr_1_10?s=pc&ie=UTF8&qid=1529215944&sr=1-10&keywords=micro+sd+card)
-* [Rottay Mechanical Keypad](https://www.amazon.com/Number-Rottay-Mechanical-Numeric-backlit/dp/B076FTSY6J/ref=sr_1_3?ie=UTF8&qid=1529215627&sr=8-3&keywords=mechanical+keypad)
+- [Raspberry Pi 3](https://www.amazon.com/Raspberry-Pi-RASPBERRYPI3-MODB-1GB-Model-Motherboard/dp/B01CD5VC92/ref=sr_1_3?s=electronics&ie=UTF8&qid=1529215701&sr=1-3&keywords=raspberry+pi+3)
+- [Case For Raspberry Pi](https://www.amazon.com/iPhoenix-Raspberry-White-Compatible-Model/dp/B06XQSXZ97/ref=sr_1_3?s=electronics&dd=iYEspjjyeRXfqDW9BHwJFw%2C%2C&ddc_refnmnt=pfod&ie=UTF8&qid=1529215794&sr=1-3&keywords=white+raspberry+pi+3+case&refinements=p_97%3A11292772011)
+- [Cooling Fan for Raspberry Pi](https://www.amazon.com/gp/product/B075R4S9GH/ref=od_aui_detailpages00?ie=UTF8&psc=1)
+- [Micro USB Cable](https://www.amazon.com/AmazonBasics-Male-Micro-Cable-Black/dp/B0711PVX6Z/ref=sr_1_6?s=electronics&ie=UTF8&qid=1529215888&sr=1-6&keywords=micro+usb+cable)
+- [Micro SD Card](https://www.amazon.com/SanDisk-Ultra-Micro-Adapter-SDSQUNC-016G-GN6MA/dp/B010Q57SEE/ref=sr_1_10?s=pc&ie=UTF8&qid=1529215944&sr=1-10&keywords=micro+sd+card)
+- [Rottay Mechanical Keypad](https://www.amazon.com/Number-Rottay-Mechanical-Numeric-backlit/dp/B076FTSY6J/ref=sr_1_3?ie=UTF8&qid=1529215627&sr=8-3&keywords=mechanical+keypad)
 
 ### Recommended HUDLY Build
 
-* [HUDLY Classic](https://gethudly.com/classic)
-  * *NOTE:* You will most likely want to order the cigarette lighter powered version.
-  * *NOTE:* You can order the iPhone or Android cable option based on your phone. It will not matter for the StratuxHud.
-* [12" HDMI Cable](https://www.amazon.com/StarTech-com-0-3m-Short-Speed-Cable/dp/B00K3HF276/ref=sr_1_11?s=electronics&ie=UTF8&qid=1529216822&sr=1-11&keywords=short%2Bhdmi%2Bcable&th=1)
+- [HUDLY Classic](https://gethudly.com/classic)
+  - _NOTE:_ You will most likely want to order the cigarette lighter powered version.
+  - _NOTE:_ You can order the iPhone or Android cable option based on your phone. It will not matter for the StratuxHud.
+- [12" HDMI Cable](https://www.amazon.com/StarTech-com-0-3m-Short-Speed-Cable/dp/B00K3HF276/ref=sr_1_11?s=electronics&ie=UTF8&qid=1529216822&sr=1-11&keywords=short%2Bhdmi%2Bcable&th=1)
 
 ### 3D Print Build
 
-* [Teleprompter Glass Sample of both thickness of the 60/40 glass](<https://telepromptermirror.com/sample/>)
-* [SunFounder 5" TFT LCD](https://www.amazon.com/SunFounder-Monitor-Display-800X480-Raspberry/dp/B01HXSFIH6)
+- [Teleprompter Glass Sample of both thickness of the 60/40 glass](https://telepromptermirror.com/sample/)
+- [SunFounder 5" TFT LCD](https://www.amazon.com/SunFounder-Monitor-Display-800X480-Raspberry/dp/B01HXSFIH6)
 
 ## Install instructions
 
@@ -182,6 +182,17 @@ A blank screen so no information is displayed.
 18. "Other" -> "English US" -> "Default" -> "No compose" -> "Yes"
 19. "Finish"
 
+#### Raspberry Pi 3B+
+
+If you are using a 3B+, it may suffer from undervoltage alerts.
+These may be relieved by the following command to update your Linux install to the latest:
+
+```bash
+sudo apt-get update && sudo apt-get dist-upgrade -y
+```
+
+Make sure you are using a high quality power cable if you are using a Pi 3B+
+
 ### Install Software
 
 1. Enter `ping google.com`. Press ctrl+c after a while. This will confirm that you have internet access. If you do not, then use rasp-config to re-enter your wi-fi
@@ -200,9 +211,9 @@ A blank screen so no information is displayed.
 14. Select "Nano" (Option 1)
 15. Enter the following text at the _bottom_ of the file:
 
-  ```code
-  @reboot sudo python /home/pi/StratuxHud/stratux_hud.py &
-  ```
+```bash
+@reboot sudo python /home/pi/StratuxHud/stratux_hud.py &
+```
 
 1. Save and quit.
 
@@ -233,9 +244,9 @@ The initial project was inspired by Kris Knigga's PyAhrs project <https://github
 
 The following components are used:
 
-* Python
-* PyGame
-* Ws4Py
+- Python
+- PyGame
+- Ws4Py
 
 ... and of course Stratux
 

diff --git a/restful_host.py b/restful_host.py
@@ -218,6 +218,11 @@ def run(self):
         print("localhost = {}:{}".format(self.__local_ip__, self.__port__))
 
         self.__httpd__.serve_forever()
+
+    def stop(self):
+        if self.__httpd__ is not None:
+            self.__httpd__.shutdown()
+            self.__httpd__.server_close()
 
     def __init__(self):
         self.__port__ = RESTFUL_HOST_PORT