Hi,

using the wj200_vfd driver with linuxcnc 2.7.14
when exiting from UI (gmoccapy) i always get the following errors :

libusb:error [do_close] Device handle closed while transfer was still being
processed, but the device is still connected as far as we know
libusb:warning [do_close] A cancellation for an in-flight transfer hasn't
completed but closing the device handle

adding missing modbus_close/flush/free as per other vfd components
(hy_gt_vfd.c,
vfdb_vfd.c) give the same error

actually cleanup is fired on signals SIGINT, SIGTERM but these
are occuring after errors are logged (too late)

is there a proper way to get notified by HAL earlier during the
"Shutting down and cleaning up LinuxCNC..." ?

regards
OR

btw: i've sent the pending PR https://github.com/LinuxCNC/linuxcnc/pull/457
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