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RSDK-2404 - prevent panic in close_sync #35

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merged 3 commits into from
Mar 22, 2023
Merged

RSDK-2404 - prevent panic in close_sync #35

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5615f57
stop panicking when connecting to offline robot
stuqdog Mar 21, 2023
335e037
add logging for closing base channel
stuqdog Mar 21, 2023
f20e80a
Merge branch 'main' into offline-robot-panic-fix
stuqdog Mar 22, 2023
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24 changes: 19 additions & 5 deletions src/rpc/base_channel.rs
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Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
use anyhow::Result;
use std::{
fmt::Debug,
panic::{catch_unwind, set_hook, AssertUnwindSafe},
sync::{
atomic::{AtomicBool, AtomicPtr, Ordering},
Arc,
Expand Down Expand Up @@ -80,6 +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(());
}
Expand All @@ -93,11 +95,23 @@ 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
Expand Down