From e59f9a05b2f08f8abdea3500fa77e384aaf1d6dc Mon Sep 17 00:00:00 2001
From: "Edward V. Emelianov" <eddy@sao.ru>
Date: Tue, 12 Aug 2025 11:48:48 +0300
Subject: [PATCH] remove pthread_kill/pthread_cancel from `signals` (if thread
 wasn't run, these functions cause segfault)

---
 LibSidServo/examples/dump.c           | 2 +-
 LibSidServo/examples/goto.c           | 3 ++-
 LibSidServo/examples/scmd_traectory.c | 1 -
 LibSidServo/serial.c                  | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/LibSidServo/examples/dump.c b/LibSidServo/examples/dump.c
index 61628b9..ed939eb 100644
--- a/LibSidServo/examples/dump.c
+++ b/LibSidServo/examples/dump.c
@@ -73,7 +73,7 @@ void logmnt(FILE *fcoords, mountdata_t *m){
     }
     // write data
     fprintf(fcoords, "%12.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10.6f %10u\n",
-            m->motXposition.t, RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
+            m->encXposition.t, RAD2DEG(m->motXposition.val), RAD2DEG(m->motYposition.val),
             RAD2DEG(m->encXposition.val), RAD2DEG(m->encYposition.val),
             RAD2DEG(m->encXspeed.val), RAD2DEG(m->encYspeed.val),
             m->millis);
diff --git a/LibSidServo/examples/goto.c b/LibSidServo/examples/goto.c
index 1038926..d5a4b3e 100644
--- a/LibSidServo/examples/goto.c
+++ b/LibSidServo/examples/goto.c
@@ -61,12 +61,13 @@ static FILE* fcoords = NULL;
 static pthread_t dthr;
 
 void signals(int sig){
-    pthread_cancel(dthr);
     if(sig){
         signal(sig, SIG_IGN);
         DBG("Get signal %d, quit.\n", sig);
     }
+    DBG("Quit");
     Mount.quit();
+    DBG("close");
     if(fcoords) fclose(fcoords);
     exit(sig);
 }
diff --git a/LibSidServo/examples/scmd_traectory.c b/LibSidServo/examples/scmd_traectory.c
index 1f2bc2f..5643b5e 100644
--- a/LibSidServo/examples/scmd_traectory.c
+++ b/LibSidServo/examples/scmd_traectory.c
@@ -75,7 +75,6 @@ static sl_option_t cmdlnopts[] = {
 };
 
 void signals(int sig){
-    pthread_cancel(dthr);
     if(sig){
         signal(sig, SIG_IGN);
         DBG("Get signal %d, quit.\n", sig);
diff --git a/LibSidServo/serial.c b/LibSidServo/serial.c
index 2728756..5f426cf 100644
--- a/LibSidServo/serial.c
+++ b/LibSidServo/serial.c
@@ -593,7 +593,7 @@ void closeSerial(){
         DBG("close encoder's fd");
         close(encfd[0]);
         encfd[0] = -1;
-        if(Conf.SepEncoder == 2){
+        if(Conf.SepEncoder == 2 && encfd[1] > -1){
             close(encfd[1]);
             encfd[1] = -1;
         }