Exemple #1
0
static void
_destroy_recv_parts (lcm_udpm_t *lcm)
{
    if (lcm->thread_created) {
        // send the read thread an exit command
        int wstatus = lcm_internal_pipe_write(lcm->thread_msg_pipe[1], "\0", 1);
        if(wstatus < 0) {
            perror(__FILE__ " write(destroy)");
        } else {
            g_thread_join (lcm->read_thread);
        }
        lcm->read_thread = NULL;
        lcm->thread_created = 0;
    }

    if (lcm->thread_msg_pipe[0] >= 0) {
        lcm_internal_pipe_close(lcm->thread_msg_pipe[0]);
        lcm_internal_pipe_close(lcm->thread_msg_pipe[1]);
        lcm->thread_msg_pipe[0] = lcm->thread_msg_pipe[1] = -1;
    }

    if (lcm->recvfd >= 0) {
        lcm_close_socket(lcm->recvfd);
        lcm->recvfd = -1;
    }

    if (lcm->frag_bufs) {
        lcm_frag_buf_store_destroy(lcm->frag_bufs);
        lcm->frag_bufs = NULL;
    }

    if (lcm->inbufs_empty) {
        lcm_buf_queue_free (lcm->inbufs_empty, lcm->ringbuf);
        lcm->inbufs_empty = NULL;
    }
    if (lcm->inbufs_filled) {
        lcm_buf_queue_free (lcm->inbufs_filled, lcm->ringbuf);
        lcm->inbufs_filled = NULL;
    }
    if (lcm->ringbuf) {
        lcm_ringbuf_free (lcm->ringbuf);
        lcm->ringbuf = NULL;
    }
}
Exemple #2
0
 void
lcm_buf_free_data(lcm_buf_t *lcmb, lcm_ringbuf_t *ringbuf)
{
    if(!lcmb->buf)
        return;
    if (lcmb->ringbuf) {
        lcm_ringbuf_dealloc (lcmb->ringbuf, lcmb->buf);

        // if the packet was allocated from an obsolete and empty ringbuffer,
        // then deallocate the old ringbuffer as well.
        if(lcmb->ringbuf != ringbuf && !lcm_ringbuf_used(lcmb->ringbuf)) {
            lcm_ringbuf_free(lcmb->ringbuf);
            dbg(DBG_LCM, "Destroying unused orphan ringbuffer %p\n",
                    lcmb->ringbuf);
        }
    } else {
        free (lcmb->buf);
    }
    lcmb->buf = NULL;
    lcmb->buf_size = 0;
    lcmb->ringbuf = NULL;
}