Used the pthread_setcancelstate function to configure where the thread can be cancelled.

Added a mutex unlock in the exception catch in the thread to avoid blocking when an error occurs.

src/comm.cpp

@@ -261,6 +261,15 @@ void *CComm::comm_thread(void *param)
       }
       comm_dev->access_comm.exit();
     }catch(CException &e){
+      try{
+        comm_dev->hard_close();
+      }catch(CException &close){
+        std::cout << close.what() << std::endl;
+      }
+      /* flush the data queues */
+      comm_dev->receive_queue.flush();
+      /* change the current state */
+      comm_dev->state=created;
       comm_dev->access_comm.exit();
       std::cout << e.what() << std::endl;
       end=true;