void XnServerSensorInvoker::Free()
{
m_bShouldRun = FALSE;
if (m_hReaderThread != NULL)
{
xnOSWaitAndTerminateThread(&m_hReaderThread, XN_SENSOR_TERMINATE_READER_THREAD_TIMEOUT);
m_hReaderThread = NULL;
}
XnStatus nRetVal = m_sensor.Destroy();
if (nRetVal != XN_STATUS_OK)
{
xnLogWarning(XN_MASK_SENSOR_SERVER, "Failed to destroy sensor: %s", xnGetStatusString(nRetVal));
XN_ASSERT(FALSE);
}
if (m_hNewDataEvent != NULL)
{
xnOSCloseEvent(&m_hNewDataEvent);
m_hNewDataEvent = NULL;
}
if (m_hSensorLock != NULL)
{
xnOSCloseCriticalSection(&m_hSensorLock);
m_hSensorLock = NULL;
}
}
void XnServerSession::Free()
{
if (m_hThread != NULL)
{
xnOSWaitAndTerminateThread(&m_hThread, 2000);
m_hThread = NULL;
}
if (m_hStreamsLock != NULL)
{
xnOSCloseCriticalSection(&m_hStreamsLock);
m_hStreamsLock = NULL;
}
if (m_hCommLock != NULL)
{
xnOSCloseCriticalSection(&m_hCommLock);
m_hCommLock = NULL;
}
if (m_pStreamDataSet != NULL)
{
XnStreamDataSetDestroy(&m_pStreamDataSet);
m_pStreamDataSet = NULL;
}
if (m_hSocket != NULL)
{
xnOSCloseSocket(m_hSocket);
m_hSocket = NULL;
}
m_privateIncomingPacker.Free();
m_privateOutgoingPacker.Free();
}
XnStatus xnUSBPlatformSpecificShutdown()
{
g_bUsbDevDetectShoudRun = FALSE;
xnOSWaitAndTerminateThread(&g_xnUsbhPnThread, 5000);
UnregisterClass((LPCSTR)g_xnClass, (HINSTANCE)g_xnUsbhModule);
return (XN_STATUS_OK);
}
void SocketInConnection::Disconnect()
{
XnStatus nRetVal = XN_STATUS_OK;
if (m_hReadThread != NULL)
{
m_bStopReadThread = TRUE; //Signal read thread to stop running
nRetVal = xnOSWaitAndTerminateThread(&m_hReadThread, READ_THREAD_TERMINATE_TIMEOUT);
if (nRetVal != XN_STATUS_OK)
{
xnLogWarning("Failed to terminate input socket read thread: %s", xnGetStatusString(nRetVal));
XN_ASSERT(FALSE);
}
m_bStopReadThread = FALSE;
}
}
XnStatus XnSensorClient::Destroy()
{
XnStatus nRetVal = XN_STATUS_OK;
if (m_hSocket != NULL)
{
nRetVal = SendBye();
if (nRetVal != XN_STATUS_OK)
{
xnLogWarning(XN_MASK_SENSOR_CLIENT, "Failed to send BYE to the server - %s", xnGetStatusString(nRetVal));
//But we keep going - we must destroy our object.
}
//Signal to the listener thread that it should stop running
m_bShouldRun = FALSE;
m_bConnected = FALSE;
}
if (m_hListenThread != NULL)
{
xnOSWaitAndTerminateThread(&m_hListenThread, XN_SENSOR_CLIENT_TERMINATE_THREAD_TIMEOUT);
m_hListenThread = NULL;
}
// now destroy it all
XnStreamReaderDevice::Destroy();
if (m_hReplyEvent != NULL)
{
xnOSCloseEvent(&m_hReplyEvent);
m_hReplyEvent = NULL;
}
XN_DELETE(m_pOutgoingPacker);
if (m_hLock != NULL)
{
xnOSCloseCriticalSection(&m_hLock);
m_hLock = NULL;
}
return XN_STATUS_OK;
}
XN_C_API XnStatus xnProfilingShutdown()
{
if (g_ProfilingData.hThread != NULL)
{
g_ProfilingData.bKillThread = TRUE;
xnLogVerbose(XN_MASK_PROFILING, "Shutting down Profiling thread...");
xnOSWaitAndTerminateThread(&g_ProfilingData.hThread, g_ProfilingData.nProfilingInterval * 2);
g_ProfilingData.hThread = NULL;
}
if (g_ProfilingData.hCriticalSection != NULL)
{
xnOSCloseCriticalSection(&g_ProfilingData.hCriticalSection);
g_ProfilingData.hCriticalSection = NULL;
}
XN_FREE_AND_NULL(g_ProfilingData.aSections);
g_ProfilingData.bInitialized = FALSE;
return XN_STATUS_OK;
}
void FreeScheduler(XnScheduler* pScheduler)
{
// stop thread
if (pScheduler->hThread)
{
// mark for thread to stop
pScheduler->bStopThread = TRUE;
if (pScheduler->hWakeThreadEvent)
{
xnOSSetEvent(pScheduler->hWakeThreadEvent);
}
// now wait for it to exit
xnLogVerbose(XN_MASK_SCHEDULER, "Shutting down Scheduler thread...");
xnOSWaitAndTerminateThread(&pScheduler->hThread, XN_SCHEDULER_WAIT_THREAD_EXIT_TIMEOUT);
}
if (pScheduler->hWakeThreadEvent)
{
xnOSCloseEvent(&pScheduler->hWakeThreadEvent);
}
if (pScheduler->hCriticalSection)
{
xnOSCloseCriticalSection(&pScheduler->hCriticalSection);
}
while (pScheduler->pFirst != NULL)
{
XnScheduledTask* pTask = pScheduler->pFirst;
pScheduler->pFirst = pTask->pNextTask;
xnOSFree(pTask);
}
xnOSFree(pScheduler);
}
XnStatus xnUSBPlatformSpecificShutdown()
{
xnUSBAsynchThreadStop();
#ifdef XN_USE_UDEV
g_bShouldRunUDEVThread = false;
xnOSWaitAndTerminateThread(&g_hUDEVThread, 2 * 1000);
g_hUDEVThread = NULL;
#endif
if (g_InitData.hLock != NULL)
{
xnOSCloseCriticalSection(&g_InitData.hLock);
g_InitData.hLock = NULL;
}
if (g_InitData.pContext != NULL)
{
// close the library
libusb_exit(g_InitData.pContext);
g_InitData.pContext = NULL;
}
return (XN_STATUS_OK);
}
