UavcanNode::~UavcanNode()
{
fw_server(Stop);
if (_task != -1) {
/* tell the task we want it to go away */
_task_should_exit = true;
unsigned i = 10;
do {
/* wait 5ms - it should wake every 10ms or so worst-case */
usleep(5000);
/* if we have given up, kill it */
if (--i == 0) {
task_delete(_task);
break;
}
} while (_task != -1);
}
(void)::close(_armed_sub);
(void)::close(_test_motor_sub);
(void)::close(_actuator_direct_sub);
// Removing the sensor bridges
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
auto next = br->getSibling();
delete br;
br = next;
}
_instance = nullptr;
perf_free(_perfcnt_node_spin_elapsed);
perf_free(_perfcnt_esc_mixer_output_elapsed);
perf_free(_perfcnt_esc_mixer_total_elapsed);
pthread_mutex_destroy(&_node_mutex);
px4_sem_destroy(&_server_command_sem);
// Is it allowed to delete it like that?
if (_mixers != nullptr) {
delete _mixers;
}
}
UavcanNode::~UavcanNode()
{
fw_server(Stop);
if (_task != -1) {
/* tell the task we want it to go away */
_task_should_exit = true;
unsigned i = 10;
do {
/* wait 5ms - it should wake every 10ms or so worst-case */
usleep(5000);
/* if we have given up, kill it */
if (--i == 0) {
task_delete(_task);
break;
}
} while (_task != -1);
}
/* clean up the alternate device node */
// unregister_driver(PWM_OUTPUT_DEVICE_PATH);
::close(_armed_sub);
// Removing the sensor bridges
auto br = _sensor_bridges.getHead();
while (br != nullptr) {
auto next = br->getSibling();
delete br;
br = next;
}
_instance = nullptr;
perf_free(_perfcnt_node_spin_elapsed);
perf_free(_perfcnt_esc_mixer_output_elapsed);
perf_free(_perfcnt_esc_mixer_total_elapsed);
pthread_mutex_destroy(&_node_mutex);
sem_destroy(&_server_command_sem);
}