OpenravePlugins: destructors not called (nor Destroy)

[jgvictores]

This issue is a follow-up on #47 (comment).

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]

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]

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.

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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]

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]

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

BTW I'm currently reviewing our own plugins since I can't load them at all (edit: fixed in 25034a3).