From 0e9ef526f79f8b51b0c9e4ab9546ffc892ec4c8b Mon Sep 17 00:00:00 2001
From: James <91348155+FrogAi@users.noreply.github.com>
Date: Fri, 6 Mar 2026 03:38:18 -0700
Subject: [PATCH] Fix?

---
 frogpilot/controls/frogpilot_planner.py | 4 ++++
 frogpilot/frogpilot_process.py          | 2 ++
 2 files changed, 6 insertions(+)

diff --git a/frogpilot/controls/frogpilot_planner.py b/frogpilot/controls/frogpilot_planner.py
index 1410b0aba..7e4bcb14d 100644
--- a/frogpilot/controls/frogpilot_planner.py
+++ b/frogpilot/controls/frogpilot_planner.py
@@ -53,6 +53,10 @@ class FrogPilotPlanner:
 
     self.tracking_lead_filter = FirstOrderFilter(0, 0.5, DT_MDL)
 
+  def shutdown(self):
+    self.frogpilot_vcruise.slc.executor.shutdown(wait=False, cancel_futures=True)
+    self.frogpilot_weather.executor.shutdown(wait=False, cancel_futures=True)
+
   def update(self, now, time_validated, sm, frogpilot_toggles):
     self.lead_one = sm["radarState"].leadOne
 
diff --git a/frogpilot/frogpilot_process.py b/frogpilot/frogpilot_process.py
index bda6d4ae9..23264ca30 100644
--- a/frogpilot/frogpilot_process.py
+++ b/frogpilot/frogpilot_process.py
@@ -120,6 +120,8 @@ def frogpilot_thread():
     started = sm["deviceState"].started
 
     if not started and started_previously:
+      frogpilot_planner.shutdown()
+
       frogpilot_toggles = update_toggles(frogpilot_variables, started, theme_manager, thread_manager, time_validated, params, frogpilot_toggles)
       transition_offroad(frogpilot_planner, theme_manager, thread_manager, time_validated, sm, params, frogpilot_toggles)