From 38ca539af8f38b99f2f1606a098e8f821d3069f1 Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Sun, 20 Jul 2025 20:49:12 -0500
Subject: [PATCH] stop robot on disconnect

---
 converter/src/main.rs | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/converter/src/main.rs b/converter/src/main.rs
index f95110c..6067cd2 100644
--- a/converter/src/main.rs
+++ b/converter/src/main.rs
@@ -1,4 +1,4 @@
-use std::{f32::NAN, io::{BufRead, BufReader, BufWriter, Read, Write}, net::TcpListener, sync::{Arc, Mutex}, thread::sleep, time::Duration};
+use std::{io::{BufRead, BufReader, BufWriter, Read, Write}, net::TcpListener, sync::{Arc, Mutex}, thread::sleep, time::Duration};
 
 use common::{Command, Telemetry};
 use postcard::to_vec_cobs;
@@ -73,6 +73,14 @@ fn handle_connection(command: Arc<Mutex<Command>>, telemetry: Arc<Mutex<Telemetr
         let mut data_buf = std::vec::Vec::new();
         let len = reader.read_until(b'\n', &mut data_buf)?;
 
+        // eof
+        if len == 0 {
+            *command.lock().unwrap() = Command::default(); // stop motors
+            println!("disconnected from LabVIEW");
+            return anyhow::Ok(());
+        }
+
+
         let Ok(new_command) = serde_json::from_slice::<Command>(&data_buf[0..len]) else {continue;};
 
         *command.lock().unwrap() = new_command.clone();