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ami-iit / yarp-openmct

Repo for YARP and OpenMCT integration.
BSD 3-Clause "New" or "Revised" License
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Server closure failing if <CTRL+C> hit quickly after starting #87

Closed nunoguedelha closed 2 years ago

nunoguedelha commented 2 years ago

We observed twice in a dozen tests: when closing (CTRL+C) quickly after starting the application, the closure is not properly completed and we had to kill the process manually.

Successful closure terminal output:

[OPEN-MCT STATIC SERVER] stdout: Received SIGINT ...
Open-MCT Visualizer Server closing: no further incoming requests accepted. Refreshing the visualizer web page will fail.
Open-MCT Visualizer Server closed: all sockets closed.

normalExit: [OPEN-MCT STATIC SERVER] on close: 0, signal: null
iCub Telemetry Server closing: no further "subscribe"/"unsubscribe" requests accepted.
sdafarra@iiticublap260:~/Software/yarp-openmct/iCubTelemVizServer (main)$ iCub Telemetry Server closing: disconnected network ports.
Data transmission ended.
Closing all Telemetry Server and Control Console sockets!
[ 'iCub Telemetry Server closed: all sockets closed.',
  'Control Console Server closed: all sockets closed.' ]

sdafarra@iiticublap260:~/Software/yarp-openmct/iCubTelemVizServer (main)$ 
sdafarra@iiticublap260:~/Software/yarp-openmct/iCubTelemVizServer (main)$ pkill -9 node
sdafarra@iiticublap260:~/Software/yarp-openmct/iCubTelemVizServer (main)$ Killed

Failed closure terminal output:

[OPEN-MCT STATIC SERVER] stdout: Received SIGINT ...
Open-MCT Visualizer Server closing: no further incoming requests accepted. Refreshing the visualizer web page will fail.
Open-MCT Visualizer Server closed: all sockets closed.

normalExit: [OPEN-MCT STATIC SERVER] on close: 0, signal: null
iCub Telemetry Server closing: no further "subscribe"/"unsubscribe" requests accepted.
sdafarra@iiticublap260:~/Software/yarp-openmct/iCubTelemVizServer (main)$ [INFO] |yarp.os.impl.PortCoreInputUnit| Removing input from /icub/left_leg/stateExt:o to /yarpjs/left_leg/stateExt:o
[INFO] |yarp.os.impl.PortCoreInputUnit| Removing input from /wholeBodyDynamics/left_foot_front/cartesianEndEffectorWrench:o to /yarpjs/left_foot_front/cartesianEndEffectorWrench:i
[INFO] |yarp.os.impl.PortCoreInputUnit| Removing input from /wholeBodyDynamics/right_foot_front/cartesianEndEffectorWrench:o to /yarpjs/right_foot_front/cartesianEndEffectorWrench:i
iCub Telemetry Server closing: disconnected network ports.
[INFO] |yarp.os.impl.PortCoreInputUnit| Removing input from /icub/cam/left to /yarpjs/camLeftEye:i
Data transmission ended.
Closing all Telemetry Server and Control Console sockets!
[ 'iCub Telemetry Server closed: all sockets closed.',
  'Control Console Server closed: all sockets closed.' ]
[INFO] |yarp.os.impl.PortCoreInputUnit| Removing input from /icub/cam/right to /yarpjs/camRightEye:i
nunoguedelha commented 2 years ago

Not reproducible. We'll reopen if we it happens again.