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roboticslab-uc3m / openrave-yarp-plugins

OpenRAVE plugins to interface OpenRAVE with YARP.
https://robots.uc3m.es/openrave-yarp-plugins/
GNU Lesser General Public License v2.1
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OpenravePlugins: destructors not called (nor Destroy) #59

Open jgvictores opened 6 years ago

jgvictores commented 6 years ago

This issue is a follow-up on https://github.com/roboticslab-uc3m/openrave-yarp-plugins/issues/47#issuecomment-353725800.

OpenraveYarpPluginLoader via main(): plugin destructor not called, for example when exiting via ^C after calling:

openrave /usr/local/share/teo-openrave-models/openrave/teo/teo.robot.xml --module OpenraveYarpPluginLoader "open --device controlboardwrapper2 --subdevice YarpOpenraveControlboard --robotIndex 0 --allManipulators"

Destructors are called in Python scripts, but note that there RaveDestroy() is called explicity.

PeterBowman commented 6 years ago

There is a signal handler in the openrave CLI utility and it did call RaveDestroy() (ref). However, it was removed in rdiankov/openrave@cbfd27a for the sake of stability to osg viewer.

PeterBowman commented 6 years ago

The destructor does get called when I restore RaveDestroy(); and s_penv.reset(); in the signal handler. Perhaps we should file an issue upstream. Meanwhile, I'd suggest closing the viewer window by clicking on the corresponding button, which will indeed call the destructor regardless of those two commented lines.

Stack trace of OpenraveYarpPluginLoader's constructor for debugging purposes (upstream at rdiankov/openrave@b2818fb):

Thread #1 [openrave0.9] 13837 [core: 2] (Suspended : Breakpoint)    
    OpenraveYarpPluginLoader::OpenraveYarpPluginLoader() at OpenraveYarpPluginLoader.cpp:42 0x7fffce4437ca  
    CreateInterfaceValidated() at OpenraveYarpPluginLoader.cpp:351 0x7fffce440d64   
    OpenRAVECreateInterface() at plugin.h:75 0x7fffce440634 
    OpenRAVE::RaveDatabase::Plugin::CreateInterface() at plugindatabase.h:292 0x7fffeef882ec    
    OpenRAVE::RaveDatabase::Create() at plugindatabase.h:602 0x7fffeef8b715 
    OpenRAVE::RaveDatabase::CreateModule() at plugindatabase.h:407 0x7fffeef897b5   
    OpenRAVE::RaveCreateModule() at libopenrave.cpp:1,249 0x7fffeef72f08    
    MainOpenRAVEThread() at openrave.cpp:350 0x42d6e8   
    main() at openrave.cpp:280 0x42c9de
jgvictores commented 6 years ago

Yes, closing the viewer window by clicking on the corresponding button works for me too.

BTW, a hack yarpmanager used to have was to catch the CTRL-C signal and simply display a message suggesting closing the viewer window by clicking on the corresponding button.

PeterBowman commented 1 year ago

@jgvictores there has been a recent (OpenRAVE v0.105.0) overhaul in the plugin system that might have a (hopefully) positive effect on this: https://github.com/rdiankov/openrave/pull/1137.

BTW I'm currently reviewing our own plugins since I can't load them at all (edit: fixed in https://github.com/roboticslab-uc3m/openrave-yarp-plugins/commit/25034a3195a2358aacde94052df2de3886cd2b25).