Debug session cannot be started a second time, extension re-installation required

Bug type: Debugger

Describe the bug

• OS and Version: RHEL 7.6
• VS Code Version: 1.6.1.0
• C/C++ Extension Version: v1.7.1

I can successfully start a first debugging session of my C++ binary.
After stopping it, I cannot start anymore a debug session: the bottom bar turns orange and immediately back to normal.
Nothing seems to be logged anywhere, even with all logs enabled.
I have to uninstall the ms-vscode.cpptools extension, reload VSCode, and re-install the extension to debug again.
The problem is the same after the re-installation.

Here is my launch.json:

{
    "version": "0.2.0",
    "configurations": [
        {
            "name": "mdsystem-tests",
            "type": "cppdbg",
            "request": "launch",
            "program": "/tmp/mdsystem",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${workspaceFolder}",
            "envFile": "${workspaceFolder}/.vscode/debug.env",
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "Enable pretty-printing for gdb",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ],
            "logging": {
                "engineLogging": true,
                "exceptions": true,
                "moduleLoad": true,
                "programOutput": true,
                "trace": true,
                "traceResponse": true,
            }
        }
    ]
}

I have recorded the issue:

• Starting a debug session by pressing F5 to show that it works fine the first time
• The debugger starts, logs in the debug console and the breakpoint is hit as expected
• Disconnecting by pressing the red stop button in the debug menu bar
• Pressing F5 after that does not work anymore

https://user-images.githubusercontent.com/4199392/140548203-ecb0fea5-7acb-4a2f-98ca-320b477bcd01.mp4

Reproduce the failure with the supplied launch.json: start debugging with F5, stop using the red button, then press F5 again. Compare the debug console and enabled engine, exception, module-load, program-output, trace, and trace-response logs; done means a second session starts without reinstalling the extension.