JausBoolean jausSubsystemFreeMemory(JausSubsystem subsystem)
{
if(subsystem->nodes == NULL)
{
return JAUS_FALSE;
}
else
{
jausArrayDestroy(subsystem->nodes, free);
}
return JAUS_TRUE;
}
// Services Vector Destructor
void jausServicesDestroy(JausArray jausServices)
{
jausArrayDestroy(jausServices, (void *)jausServiceDestroy);
}
void wdShutdownState(void)
{
RejectComponentControlMessage rejectComponentControl;
ReleaseComponentControlMessage releaseControl = NULL;
JausMessage txMessage;
scManagerRemoveSupportedMessage(wdNmi, JAUS_REPORT_COMPONENT_STATUS);
if(wd->controller.active)
{
// Terminate control of current component
rejectComponentControl = rejectComponentControlMessageCreate();
jausAddressCopy(rejectComponentControl->source, wd->address);
jausAddressCopy(rejectComponentControl->destination, wd->controller.address);
txMessage = rejectComponentControlMessageToJausMessage(rejectComponentControl);
nodeManagerSend(wdNmi, txMessage);
jausMessageDestroy(txMessage);
rejectComponentControlMessageDestroy(rejectComponentControl);
}
// USER: Insert Shutdown Code Here, NOTE: Terminate any active service connections
// Release Control
if(wdInControl)
{
//cDebug(4, "wd: Releasing control of PD\n");
releaseControl = releaseComponentControlMessageCreate();
jausAddressCopy(releaseControl->source, wd->address);
jausAddressCopy(releaseControl->destination, pd->address);
txMessage = releaseComponentControlMessageToJausMessage(releaseControl);
nodeManagerSend(wdNmi, txMessage);
jausMessageDestroy(txMessage);
releaseComponentControlMessageDestroy(releaseControl);
wdInControl = JAUS_FALSE;
wd->state = JAUS_INITIALIZE_STATE;
}
if(pdStatusSc->isActive)
{
scManagerTerminateServiceConnection(wdNmi, pdStatusSc);
serviceConnectionDestroy(pdStatusSc);
}
if(pdWrenchSc->isActive)
{
scManagerTerminateServiceConnection(wdNmi, pdWrenchSc);
serviceConnectionDestroy(pdWrenchSc);
}
if(gposSc->isActive)
{
scManagerTerminateServiceConnection(wdNmi, gposSc);
serviceConnectionDestroy(gposSc);
}
if(vssSc->isActive)
{
scManagerTerminateServiceConnection(wdNmi, vssSc);
serviceConnectionDestroy(vssSc);
}
// Destory Global Messages
if(wdSpeed)
{
setTravelSpeedMessageDestroy(wdSpeed);
}
if(wdReportGpos)
{
reportGlobalPoseMessageDestroy(wdReportGpos);
}
if(wdReportVss)
{
reportVelocityStateMessageDestroy(wdReportVss);
}
if(wdReportWrench)
{
reportWrenchEffortMessageDestroy(wdReportWrench);
}
// Destroy Global Variables
vehicleStateDestroy(vehicleState);
jausArrayDestroy(wdWaypoints, (void *)setGlobalWaypointMessageDestroy);
setWrenchEffortMessageDestroy(wdWrench);
jausComponentDestroy(pd);
}
void jausNodeDestroy(JausNode node)
{
jausArrayDestroy(node->components, (void *)jausComponentDestroy);
if(node->identification) free(node->identification);
free(node);
}
void lmListDestroy(LargeMessageList msgList)
{
jausArrayDestroy(msgList->messages, (void *)jausMessageDestroy);
jausAddressDestroy(msgList->source);
free(msgList);
}
void lmHandlerDestroy(LargeMessageHandler lmh)
{
jausArrayDestroy(lmh->messageLists, (void *)lmListDestroy);
free(lmh);
}
void jausSubsystemDestroy(JausSubsystem subsystem)
{
jausArrayDestroy(subsystem->nodes, (void *)jausNodeDestroy);
if(subsystem->identification) free(subsystem->identification);
free(subsystem);
}