void shutdown()
{
boost::recursive_mutex::scoped_lock lock(g_shutting_down_mutex);
// gracefully return if we've not fired ros up yet, or mid-shutdown
if (g_shutting_down || !g_initialized)
{
return;
}
ROSCPP_LOG_DEBUG("Shutting down roscpp");
g_shutting_down = true;
g_global_queue->disable();
g_global_queue->clear();
if (g_internal_queue_thread.get_id() != boost::this_thread::get_id())
{
g_internal_queue_thread.join();
}
const log4cxx::LoggerPtr& logger = log4cxx::Logger::getLogger(ROSCONSOLE_ROOT_LOGGER_NAME);
logger->removeAppender(g_rosout_appender);
g_rosout_appender = 0;
// reset this so that the logger doesn't get crashily destroyed
// again during global destruction.
//
// See https://code.ros.org/trac/ros/ticket/3271
//
log4cxx::Logger::getRootLogger()->getLoggerRepository()->shutdown();
log4cxx::LoggerPtr& fo_logger = ros::file_log::getFileOnlyLogger();
fo_logger = log4cxx::LoggerPtr();
if (g_started)
{
TopicManager::instance()->shutdown();
ServiceManager::instance()->shutdown();
PollManager::instance()->shutdown();
ConnectionManager::instance()->shutdown();
XMLRPCManager::instance()->shutdown();
}
WallTime end = WallTime::now();
ROSCPP_LOG_DEBUG("Shutdown finished");
g_started = false;
g_ok = false;
Time::shutdown();
}
void nuke_ms::clientnode::catchThread(boost::thread& thread, unsigned threadwait_ms)
{
// a thread id that compares equal to "not-a-thread"
boost::thread::id not_a_thread;
try {
// give the thread a few seconds time to join
thread.timed_join(boost::posix_time::millisec(threadwait_ms));
}
catch(...)
{}
// if the thread finished, return. otherwise try to kill the thread
if (thread.get_id() == not_a_thread)
return;
thread.interrupt();
// if it is still running, let it go
if (thread.get_id() == not_a_thread)
return;
thread.detach();
}
// --------------------------------------------------------------
/// This object's thread ID, or Not-any-thread if the thread is not running.
/// @return - if this object refers to a thread of execution, an
/// instance of boost::thread::id that represents this thread is
/// returned. Otherwise, a default-constructed boost::thread::id
/// is returned (and if you insert it into a stream,
/// you'll get '{Not-any-thread}').
boost::thread::id id() const {
return _thread.get_id();
}
string GetThreadID(){
return Conv::ToString(m_Thread.get_id());
}