Incorrect program finishing

[taketook34]

Step to reproduce: send signal SIGINT to stop program
Expected result:
Program terminate correctly
Actual result:

^CEND of program
joining threads
destroying drivers
terminate called without an active exception
Aborted

Reproducibility: everytime
First found: after first merge of 11-refactor-software-architecture

[taketook34]

Update
Problem are not related to KPIRoverECU and not related to MotorController. Continue exploring

[taketook34]

Update
I found reason of this bug
It was caused by that I haven't join all threads (IMU thread)
Now I provide code to join it

debian@beaglebone:~$ sudo ./kpi_rover_ecu -a 0.0.0.0 -p 6000
[sudo] password for debian: 
[INFO] Started server on 0.0.0.0:6000
start ...
Waiting for connection...
[INFO] Motor set to stop
Client disconnected.
[COMMAND] motor 0 new rpm 10000
[COMMAND] motor 1 new rpm 10000
[COMMAND] motor 2 new rpm 10000
[COMMAND] motor 3 new rpm 10000
Waiting for connection...
initialize socket
WARNING: Something has claimed the I2C bus when an
IMU interrupt was received. Reading IMU anyway.
WARNING: Something has claimed the I2C bus when an
IMU interrupt was received. Reading IMU anyway.
[INFO] Motor set to stop
^CEND of program
joining threads
destroying drivers
joining thread ... 
closing socket
joining udp client socket ...
debian@beaglebone:~$ 

But IMUthread need to start ad be joinable. If we watch scenario when don't get tcp packages and IMU thread don't get joinable, we can finish program.

debian@beaglebone:~$ sudo ./kpi_rover_ecu -a 0.0.0.0 -p 6000
[INFO] Started server on 0.0.0.0:6000
start ...
Waiting for connection...
[INFO] Motor set to stop
^CEND of program
joining threads

I will work on upgrading mechanism destroying program and IMUthread too.