From 46adc9cdedcb4181870dec693fa4365ec47461be Mon Sep 17 00:00:00 2001
From: WillB97 <will@rudi.org.uk>
Date: Sun, 18 Aug 2024 11:46:45 +0100
Subject: [PATCH] Make usercode terminate properly when resetting the world

---
 simulator/modules/sbot_interface/socket_server.py | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/simulator/modules/sbot_interface/socket_server.py b/simulator/modules/sbot_interface/socket_server.py
index 4beb23e..a51c7d0 100644
--- a/simulator/modules/sbot_interface/socket_server.py
+++ b/simulator/modules/sbot_interface/socket_server.py
@@ -2,7 +2,9 @@
 from __future__ import annotations
 
 import logging
+import os
 import select
+import signal
 import socket
 import sys
 from threading import Event
@@ -193,6 +195,13 @@ def run(self) -> None:
                 except Exception as e:
                     LOGGER.exception(f"Failure in simulated boards: {e}")
 
+        LOGGER.info('Stopping server')
+        for device in self.devices:
+            device.close()
+
+        # Stop the usercode
+        os.kill(os.getpid(), signal.SIGINT)
+
     def links(self) -> dict[str, dict[str, str]]:
         """Return a mapping of asset tags to ports, grouped by board type."""
         return {