diff --git a/examples/tracker/__init__.py b/examples/tracker/__init__.py
index 6aa07d9..a60d307 100644
--- a/examples/tracker/__init__.py
+++ b/examples/tracker/__init__.py
@@ -115,7 +115,7 @@ class FaceTracker(MoveHub):
         pyplot.ion()
         pyplot.show()
 
-        while thr.isAlive():
+        while thr.isAlive() and self.connection.is_alive():
             # bodies, weights = self._find_color()
             bodies, weights = self._find_faces()
 
diff --git a/pylgbst/comms/__init__.py b/pylgbst/comms/__init__.py
index 567c0a9..bb53315 100644
--- a/pylgbst/comms/__init__.py
+++ b/pylgbst/comms/__init__.py
@@ -22,6 +22,10 @@ class Connection(object):
     def connect(self, hub_mac=None):
         pass
 
+    @abstractmethod
+    def is_alive(self):
+        pass
+
     def disconnect(self):
         pass
 
@@ -61,7 +65,7 @@ class DebugServer(object):
             conn, addr = self.sock.accept()
             if not self._running:
                 raise KeyboardInterrupt("Shutdown")
-            self.connection.requester.notification_sink = lambda x, y: self._notify(conn, x, y)
+            self.connection.set_notify_handler(lambda x, y: self._notify(conn, x, y))
             try:
                 self._handle_conn(conn)
             except KeyboardInterrupt:
@@ -69,7 +73,7 @@ class DebugServer(object):
             except BaseException:
                 log.error("Problem handling incoming connection: %s", traceback.format_exc())
             finally:
-                self.connection.requester.notification_sink = self._notify_dummy
+                self.connection.set_notify_handler(self._notify_dummy)
                 conn.close()
 
     def __del__(self):
diff --git a/pylgbst/comms/cgatt.py b/pylgbst/comms/cgatt.py
index 7e676c0..a75d3d0 100644
--- a/pylgbst/comms/cgatt.py
+++ b/pylgbst/comms/cgatt.py
@@ -79,21 +79,22 @@ class GattConnection(Connection):
         super(GattConnection, self).__init__()
         self._device = None
         self._iface = bt_iface_name
-
-    def connect(self, hub_mac=None):
         try:
-            dev_manager = gatt.DeviceManager(adapter_name=self._iface)
+            self._manager = gatt.DeviceManager(adapter_name=self._iface)
         except TypeError:
             raise NotImplementedError("Gatt is not implemented for this platform")
-        dman_thread = threading.Thread(target=dev_manager.run)
-        dman_thread.setDaemon(True)
+
+        self._manager_thread = threading.Thread(target=self._manager.run)
+        self._manager_thread.setDaemon(False)
         log.debug('Starting DeviceManager...')
-        dman_thread.start()
-        dev_manager.start_discovery()
+
+    def connect(self, hub_mac=None):
+        self._manager_thread.start()
+        self._manager.start_discovery()
 
         while not self._device:
             log.info("Discovering devices...")
-            devices = dev_manager.devices()
+            devices = self._manager.devices()
             log.debug("Devices: %s", devices)
 
             for dev in devices:
@@ -101,7 +102,7 @@ class GattConnection(Connection):
                 name = dev.alias()
                 if name == LEGO_MOVE_HUB or hub_mac == address:
                     logging.info("Found %s at %s", name, address)
-                    self._device = CustomDevice(address, dev_manager)
+                    self._device = CustomDevice(address, self._manager)
                     break
 
             if not self._device:
@@ -121,3 +122,6 @@ class GattConnection(Connection):
 
     def enable_notifications(self):
         self._device.enable_notifications()
+
+    def is_alive(self):
+        return self._manager_thread.isAlive()
diff --git a/pylgbst/comms/cgattlib.py b/pylgbst/comms/cgattlib.py
index 8f69548..56b8f51 100644
--- a/pylgbst/comms/cgattlib.py
+++ b/pylgbst/comms/cgattlib.py
@@ -1,9 +1,10 @@
 # noinspection PyMethodOverriding
 import logging
 import traceback
-from gattlib import DiscoveryService, GATTRequester
 from threading import Thread
 
+from gattlib import DiscoveryService, GATTRequester
+
 from pylgbst.comms import Connection, LEGO_MOVE_HUB
 from pylgbst.utilities import queue, str2hex
 
@@ -21,10 +22,10 @@ class Requester(GATTRequester):
         self.notification_sink = None
 
         self._notify_queue = queue.Queue()  # this queue is to minimize time spent in gattlib C code
-        thr = Thread(target=self._dispatch_notifications)
-        thr.setDaemon(True)
-        thr.setName("Notify queue dispatcher")
-        thr.start()
+        self.notify_thread = Thread(target=self._dispatch_notifications)
+        self.notify_thread.setDaemon(True)
+        self.notify_thread.setName("Notify queue dispatcher")
+        self.notify_thread.start()
 
     def on_notification(self, handle, data):
         # log.debug("requester notified, sink: %s", self.notification_sink)
@@ -89,3 +90,6 @@ class GattLibConnection(Connection):
     def write(self, handle, data):
         log.debug("Writing to %s: %s", handle, str2hex(data))
         return self.requester.write_by_handle(handle, data)
+
+    def is_alive(self):
+        return self.requester.notify_thread.isAlive()
diff --git a/pylgbst/comms/cpygatt.py b/pylgbst/comms/cpygatt.py
index bb91088..1c412b8 100644
--- a/pylgbst/comms/cpygatt.py
+++ b/pylgbst/comms/cpygatt.py
@@ -54,6 +54,9 @@ class GattoolConnection(Connection):
     def set_notify_handler(self, handler):
         self._conn_hnd.subscribe(MOVE_HUB_HW_UUID_CHAR, handler)
 
+    def is_alive(self):
+        return True
+
 
 class BlueGigaConnection(GattoolConnection):
     def __init__(self):
diff --git a/pylgbst/peripherals.py b/pylgbst/peripherals.py
index a1c9cea..7e4160a 100644
--- a/pylgbst/peripherals.py
+++ b/pylgbst/peripherals.py
@@ -14,7 +14,7 @@ log = logging.getLogger('peripherals')
 
 class Peripheral(object):
     """
-    :type parent: MoveHub
+    :type parent: pylgbst.movehub.MoveHub
     :type _incoming_port_data: queue.Queue
     """
 
@@ -110,6 +110,9 @@ class Peripheral(object):
         if not async:
             log.debug("Waiting for sync command work to finish...")
             while self.in_progress():
+                if not self.parent.connection.is_alive():
+                    log.debug("Connection is not alive anymore: %s", self.parent.connection)
+                    break
                 time.sleep(0.001)
             log.debug("Command has finished.")