From 44ba79d8f49edd81752063b27beb83b30f9eee31 Mon Sep 17 00:00:00 2001
From: Nuno Guedelha <nuno.guedelha@iit.it>
Date: Tue, 21 Sep 2021 04:21:37 +0200
Subject: [PATCH] WIP

---
 iCubTelemVizServer/iCubTelemVizServer.js | 28 ++++++++++++++++++++++--
 1 file changed, 26 insertions(+), 2 deletions(-)

diff --git a/iCubTelemVizServer/iCubTelemVizServer.js b/iCubTelemVizServer/iCubTelemVizServer.js
index a58555b..0246358 100644
--- a/iCubTelemVizServer/iCubTelemVizServer.js
+++ b/iCubTelemVizServer/iCubTelemVizServer.js
@@ -146,13 +146,13 @@ portRPCserver4sysCmds.onRead(function (cmdNparams) {
 });
 
 // Start history and realtime servers
-app.listen(portTelemetryRespOrigin, function () {
+const telemServer = app.listen(portTelemetryRespOrigin, function () {
     console.log('ICubTelemetry History hosted at http://localhost:' + portTelemetryRespOrigin + '/history');
     console.log('ICubTelemetry Realtime hosted at ws://localhost:' + portTelemetryRespOrigin + '/realtime');
 });
 
 // start the server!
-http.listen(3000, function(){
+const consoleServer = http.listen(3000, function(){
   console.log('listening on http://localhost:3000');
 });
 
@@ -163,3 +163,27 @@ var ret = openMctServerHandler.setNvmVersion('v14.17.0');
 console.log(ret.status);
 console.log(ret.message);
 openMctServerHandler.start();
+
+function closeServers(signal) {
+    console.log('Received '+'SIGINT'+' ...');
+    telemServer.close(() => {
+        console.log('iCub Telemetry Server Process terminated')
+    })
+    consoleServer.close(() => {
+        console.log('Control Console Server Process terminated')
+    })
+    openMctServerHandler.stop();
+    process.exit(2);
+}
+
+process.stdin.resume();
+
+process.on('SIGINT', closeServers);
+process.on('SIGTERM', closeServers);
+process.on('SIGQUIT', closeServers);
+process.on('SIGABRT', closeServers);
+
+console.log(process.pid);
+console.log('Is the process.stdin a tty.ReadStream instance currently configured to operate as a raw device? '+process.stdin.isRaw+'!');
+
+process.abort();