[Bug] uXRCE client is busy when the agent is close

[federicociresola]

Describe the bug

I have a QAV250 Hollybro with Pixhawk 6C and Raspberry pi 4B. I noticed that the first time I run the uXRCEAgent works fine the first time, but when I restart it (close and run again) some time it doesn't work as if the uXRCEClient port is busy or it doesn't close the previous connection. I checked this, my hypothesis was to try to restart only the raspberry (the board was working with a different power supply), hence I ruled out that there is a program that keeps the serial port busy.

The MicroXRCEClient starts at boot with the following command:

uxrce_dds_client start -t serial -d /dev/ttyS3 -b 921600 -n qav_03

The image below shows the status of MicroXRCEClient after that I killed the MicroXRCEAgent after several minutes

To Reproduce

Raspberry side:

1. MicroXRCEAgent setial --dev /dev/ttyAMA0 -b 921600
2. Kill it
3. MicroXRCEAgent setial --dev /dev/ttyAMA0 -b 921600

Expected behavior

the MicroXRCEClient closes the connection every time when there is not communication with MicroXRCEAgent

Screenshot / Media

No response

Flight Log

Software Version

Rapberry pi 4B:

• OS version: Ubuntu server 22.04
• microXRCE_dds version: last main

Pixhawk 6C:

• PX4 version: last main

Flight controller

pixhawk 6C + raspberry PI 4B

Vehicle type

None

How are the different components wired up (including port information)

No response

Additional context

No response