From ad5690c52fffd2d9a03f4c97f8a114f488f95a11 Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Thu, 12 Nov 2020 15:24:15 +0100
Subject: [PATCH] Fix exit with enter+q when Acquisition_XX.blocking=false

---
 .../acquisition/gnuradio_blocks/CMakeLists.txt           | 1 +
 .../acquisition/gnuradio_blocks/pcps_acquisition.cc      | 9 ++++++++-
 .../acquisition/gnuradio_blocks/pcps_acquisition.h       | 5 ++++-
 3 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt b/src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt
index cdc89e2eb..64ca69764 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt
+++ b/src/algorithms/acquisition/gnuradio_blocks/CMakeLists.txt
@@ -75,6 +75,7 @@ target_link_libraries(acquisition_gr_blocks
         Armadillo::armadillo
         Gnuradio::runtime
         Gnuradio::fft
+        Threads::Threads
         Volk::volk
         Volkgnsssdr::volkgnsssdr
     PRIVATE
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
index 78df6b841..759228cf6 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.cc
@@ -930,6 +930,11 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
      * 6. Declare positive or negative acquisition using a message port
      */
     gr::thread::scoped_lock lk(d_setlock);
+    if (!d_active and d_worker_active and !d_acq_parameters.blocking)
+        {
+            pthread_cancel(d_id_worker);
+            return 0;
+        }
     if (!d_active or d_worker_active)
         {
             if (!d_acq_parameters.blocking_on_standby)
@@ -1016,7 +1021,9 @@ int pcps_acquisition::general_work(int noutput_items __attribute__((unused)),
                     }
                 else
                     {
-                        gr::thread::thread d_worker(&pcps_acquisition::acquisition_core, this, d_sample_counter);
+                        d_worker = std::thread([&] { pcps_acquisition::acquisition_core(d_sample_counter); });
+                        d_id_worker = d_worker.native_handle();
+                        d_worker.detach();
                         d_worker_active = true;
                     }
                 consume_each(0);
diff --git a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
index fedd18d18..bcdcf5332 100644
--- a/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
+++ b/src/algorithms/acquisition/gnuradio_blocks/pcps_acquisition.h
@@ -59,10 +59,11 @@
 #include <complex>
 #include <cstdint>
 #include <memory>
+#include <pthread.h>
 #include <queue>
 #include <string>
+#include <thread>
 #include <utility>
-
 #if HAS_STD_SPAN
 #include <span>
 namespace own = std;
@@ -259,6 +260,8 @@ private:
     arma::fmat d_narrow_grid;
 
     std::string d_dump_filename;
+    std::thread d_worker;
+    pthread_t d_id_worker;
 
     int64_t d_dump_number;
     uint64_t d_sample_counter;