Improve closing behavior when attempting to close a device implementing the service interface #3100
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…the service interface Apparently, when the signal handler was setting the static flag "terminated" to false, it was also attempting to close immediately the terminator port, but this was receiving the termination message and some race condition seemed to occur on Windows
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I am implementing a device which can close prematurely depending on the internal state. I want
yarpdevto be notified when this happens and close consequently.In order to have this behavior, I implemented the
IServiceinterface. But then, if I press CTRL+C in theyarpdevterminal, it seems to always get stuck, and then I have to kill theyarpdevprocess. The last message wasAfter some debugging, I noticed that when the signal handler was setting the static flag "terminated" to true, it was also attempting to close immediately the terminator port. But the terminator port is receiving the termination message and some race condition seemed to occur on Windows.
If we avoid to set the
terminatedflag from the signal handler and instead we wait for the termination port to do its job, thenyarpdevcloses smoothly without issues.cc @randaz81 @Nicogene @traversaro