29af3a3.bug

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---
id: 29af3a3
title: "mavros ignores SIGINT and `rosnode kill mavros`"
description: >
  MAVROS ignores SIGNT and `rosnode kill mavros`, but correctly
  handles SIGTERM. Additionally, termination upon port closure also
  fails, and produces the output given below.

  [ERROR] [1408358771.110588398]: serial0:receive: End of file
  terminate called after throwing an instance of
  'std::system_error' what(): Resource deadlock avoided

  This behaviour was caused by a premature closure of the serial device:

  serial_dev.close();
  io_service.stop();

  The premature closure of the serial device caused io_service::run
  to continue indefinitely, leading to a hang upon join in
  MAVConnSerial::close.

  The fix moves "serial_dev.close()" to immediately below
  "io_service.stop()", which then terminates correctly and resolves
  the bug.
classification: "CWE-362: Concurrent Execution using Shared Resource with Improper\
  \ Synchronization ('Race Condition') #RESOURCE"
keywords:
  - signal handling
system: mavros
severity: error
links: []
bug:
  phase: runtime
  specificity: UNKNOWN
  architectural-location: N/A
  application: N/A
  task: N/A
  subsystem: N/A
  package: mavros
  languages:
    - C++
  detected-by: developer
  reported-by: member developer
  issue: https://github.com/mavlink/mavros/issues/130
  time-reported: 2014-08-18 (00:00)
  reproducibility: N/A
  trace: N/A
fix:
  pull-request: https://github.com/mavlink/mavros/pull/527
  fix-in:
    - libmavconn/src/serial.cpp
  languages:
    - C++
  time: 2016-03-27T20:53:24-04:00
  commits:
    - repo: https://github.com/mavlink/mavros
      hash: 29af3a3c14da0e5b92ebad40b8befa8e0141b63d
      stats:
        total:
          insertions: 1
          deletions: 1
          lines: 2
          files: 1
        files:
          libmavconn/src/serial.cpp:
            insertions: 1
            deletions: 1
            lines: 2
time-machine:
  ros_distro: indigo
  ros_pkgs:
    - mavros
  datetime: 2016-03-27T20:53:24-04:00
bugzoo:
  is-build-failure: false
  bug-commit: 7b742cfdab5f8af5cef35481e9ce8c214a9a335a
  fix-commit: 29af3a3c14da0e5b92ebad40b8befa8e0141b63d
  fork-urls:
    - https://github.com/robust-rosin/mavros
fault-codes:
  - PROGRAMMING:RESOURCES
  - PROGRAMMING:CONTROL-FLOW
  - CONCURRENCY:SIGNALS
failure-codes:
  - SOFTWARE:LIVENESS
  - SYSTEM:LOSS-OF-FUNCTIONALITY