Fix usercode_runner crashing on successful completion of usercode

Author: WillB97

simulator/controllers/usercode_runner/usercode_runner.py

@@ -197,10 +197,11 @@ def main() -> bool:
         # Run cleanup code registered in the usercode
         atexit._run_exitfuncs()  # noqa: SLF001
         # Cleanup devices
+        devices.completed = True
         devices.stop_event.set()
 
     return True
 
 
 if __name__ == '__main__':
-    exit(main())
+    exit(0 if main() else 1)

simulator/modules/sbot_interface/socket_server.py

@@ -154,6 +154,8 @@ def __init__(self, devices: list[DeviceServer]) -> None:
         self.devices = devices
         self.stop_event = Event()
         g.stop_event = self.stop_event
+        # flag to indicate that we are exiting because the usercode has completed
+        self.completed = False
 
     def run(self) -> None:
         """
@@ -199,8 +201,9 @@ def run(self) -> None:
         for device in self.devices:
             device.close()
 
-        # Stop the usercode
-        os.kill(os.getpid(), signal.SIGINT)
+        if self.stop_event.is_set() and self.completed is False:
+            # Stop the usercode
+            os.kill(os.getpid(), signal.SIGINT)
 
     def links(self) -> dict[str, dict[str, str]]:
         """Return a mapping of asset tags to ports, grouped by board type."""