From 86c83fffc053101ae6a6b16361f03c0af1dea30b Mon Sep 17 00:00:00 2001
From: Matthias Mayer <matthias.mayer@tum.de>
Date: Fri, 30 Jun 2023 15:47:39 +0200
Subject: [PATCH 1/2] Implement close functionality for meshcat viewer and
 zmqserver that hosts the three.js webpage

---
 src/meshcat/servers/zmqserver.py | 12 ++++++++++++
 src/meshcat/visualizer.py        |  7 +++++++
 2 files changed, 19 insertions(+)

diff --git a/src/meshcat/servers/zmqserver.py b/src/meshcat/servers/zmqserver.py
index 3b7e39a..fd28135 100644
--- a/src/meshcat/servers/zmqserver.py
+++ b/src/meshcat/servers/zmqserver.py
@@ -4,6 +4,7 @@
 import base64
 import os
 import re
+import signal
 import sys
 import subprocess
 import multiprocessing
@@ -406,10 +407,21 @@ def main():
     if results.open:
         webbrowser.open(bridge.web_url, new=2)
 
+    def cleanup():
+        bridge.zmq_socket.close()
+        bridge.context.destroy()
+
+    # Make sure also kill results in socket being closed otherwise ZMQbg/Reaper and IO processes might stay open
+    atexit.register(cleanup)
+    signal.signal(signal.SIGTERM, cleanup)
+    signal.signal(signal.SIGINT, cleanup)
+
     try:
         bridge.run()
     except KeyboardInterrupt:
         pass
+    finally:
+        cleanup()
 
 if __name__ == '__main__':
     main()
diff --git a/src/meshcat/visualizer.py b/src/meshcat/visualizer.py
index b7b9264..7afe260 100644
--- a/src/meshcat/visualizer.py
+++ b/src/meshcat/visualizer.py
@@ -1,3 +1,4 @@
+import signal
 import webbrowser
 import umsgpack
 import numpy as np
@@ -79,6 +80,12 @@ def get_image(self, w, h):
         img = Image.open(io.BytesIO(img_bytes))
         return img
 
+    def close(self):
+        self.zmq_socket.close()
+        self.context.destroy()
+        if self.server_proc is not None:
+            self.server_proc.send_signal(signal.SIGINT)
+            self.server_proc.wait()
 
 def srcdoc_escape(x):
     return x.replace("&", "&amp;").replace('"', "&quot;")

From e886319a370c328561a091fbbb23b13411cda0a0 Mon Sep 17 00:00:00 2001
From: Matthias Mayer <matthias.mayer@tum.de>
Date: Mon, 3 Jul 2023 11:37:40 +0200
Subject: [PATCH 2/2] use proper kill for server

---
 src/meshcat/visualizer.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/meshcat/visualizer.py b/src/meshcat/visualizer.py
index 7afe260..7960d31 100644
--- a/src/meshcat/visualizer.py
+++ b/src/meshcat/visualizer.py
@@ -84,7 +84,7 @@ def close(self):
         self.zmq_socket.close()
         self.context.destroy()
         if self.server_proc is not None:
-            self.server_proc.send_signal(signal.SIGINT)
+            self.server_proc.kill()
             self.server_proc.wait()
 
 def srcdoc_escape(x):