From 5615f5760aaccb2783f82f7f1aee150e38d8ccfe Mon Sep 17 00:00:00 2001
From: Ethan Rodkin <ethan@viam.com>
Date: Tue, 21 Mar 2023 10:40:21 -0400
Subject: [PATCH 1/2] stop panicking when connecting to offline robot

---
 src/rpc/base_channel.rs | 23 ++++++++++++++++++-----
 1 file changed, 18 insertions(+), 5 deletions(-)

diff --git a/src/rpc/base_channel.rs b/src/rpc/base_channel.rs
index b6b44ba..0d8bc41 100644
--- a/src/rpc/base_channel.rs
+++ b/src/rpc/base_channel.rs
@@ -1,6 +1,7 @@
 use anyhow::Result;
 use std::{
     fmt::Debug,
+    panic::{catch_unwind, set_hook, AssertUnwindSafe},
     sync::{
         atomic::{AtomicBool, AtomicPtr, Ordering},
         Arc,
@@ -93,11 +94,23 @@ impl WebRTCBaseChannel {
 
     // `close` with blocking. Should only be used in contexts where an async close is disallowed
     pub(crate) fn close_sync(&self) -> Result<()> {
-        let rt = tokio::runtime::Builder::new_current_thread()
-            .enable_all()
-            .build()
-            .unwrap();
-        rt.block_on(async move { self.close().await })
+        set_hook(Box::new(|info| {
+            log::error!(
+        "Unable to close base_channel gracefully. This may be because of an attempt to connect to a robot that isn't online. Error message: {}",
+        info.to_string()
+        )
+        }));
+        let safe_self = AssertUnwindSafe(self);
+        match catch_unwind(|| {
+            let rt = tokio::runtime::Builder::new_current_thread()
+                .enable_all()
+                .build()
+                .unwrap();
+            rt.block_on(async move { safe_self.close().await })
+        }) {
+            Ok(res) => res,
+            Err(_) => Err(anyhow::anyhow!("Unable to close base channel gracefully")),
+        }
     }
 
     /// Returns whether or not the channel is closed

From 335e03742f8275c28f35971ef02b037e4ce66722 Mon Sep 17 00:00:00 2001
From: Ethan Rodkin <ethan@viam.com>
Date: Tue, 21 Mar 2023 10:51:23 -0400
Subject: [PATCH 2/2] add logging for closing base channel

---
 src/rpc/base_channel.rs | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/rpc/base_channel.rs b/src/rpc/base_channel.rs
index 0d8bc41..90fd1ee 100644
--- a/src/rpc/base_channel.rs
+++ b/src/rpc/base_channel.rs
@@ -81,6 +81,7 @@ impl WebRTCBaseChannel {
     /// Closes the channel
     #[allow(dead_code)]
     pub async fn close(&self) -> Result<()> {
+        log::debug!("Closing base channel");
         if self.closed.load(Ordering::Acquire) {
             return Ok(());
         }