void video_display_destroy() {
//no need to clean stuff if it hasn't been initialized.
if (!initialized)
return;
int i = 0;
initialized = 0;
SDL_DestroyTexture(frameTex);
for (i = 0 ; i < VIDEO_NB_NAV_INFOS ; i++)
if (graphs[i].tex != NULL)
SDL_DestroyTexture(graphs[i].tex);
//Free graphical elements list
pthread_mutex_lock(&mutex_graphics_list);
struct graphics_list *current = icon_registry;
while (current != NULL) {
struct graphics_list *del = current;
current = current->next;
video_graphic_destroy(del);
}
icon_registry = NULL;
pthread_mutex_unlock(&mutex_graphics_list);
SDL_DestroyRenderer(renderer);
SDL_DestroyWindow(win);
video_clean_text();
IMG_Quit();
SDL_Quit();
jakopter_com_remove_channel(CHANNEL_CALLBACK);
jakopter_com_remove_channel(CHANNEL_DISPLAY);
}
void visp_destroy()
{
if (initialized) {
#if defined(VISP_HAVE_X11)
if (display_X)
delete display_X;
#elif defined(VISP_HAVE_OPENCV)
if (display_cv)
delete display_cv;
#endif
if (display_img)
delete display_img;
if (grey_img)
delete grey_img;
initialized = false;
}
jakopter_com_remove_channel(CHANNEL_DISPLAY);
jakopter_com_remove_channel(CHANNEL_CALLBACK);
}
/**
* Clean the display context : close the window and clean SDL structures.
*/
void video_display_clean() {
int i=0;
//no need to clean stuff if it hasn't been initialized.
if(initialized) {
SDL_DestroyTexture(frameTex);
for(i=0 ; i<VIDEO_NB_NAV_INFOS ; i++)
if(graphs[i].tex != NULL)
SDL_DestroyTexture(graphs[i].tex);
SDL_DestroyRenderer(renderer);
SDL_DestroyWindow(win);
video_clean_text();
SDL_Quit();
jakopter_com_remove_channel(CHANNEL_DISPLAY);
initialized = 0;
}
}
/**
* \brief Stop navdata thread.
* \return the pthread_join value or -1 if communication already stopped.
*/
int navdata_disconnect()
{
int ret;
pthread_mutex_lock(&mutex_stopped);
if (!stopped_navdata) {
stopped_navdata = true;
pthread_mutex_unlock(&mutex_stopped);
ret = pthread_join(navdata_thread, NULL);
jakopter_com_remove_channel(CHANNEL_NAVDATA);
close(sock_navdata);
}
else {
pthread_mutex_unlock(&mutex_stopped);
fprintf(stderr, "[~][navdata] Communication already stopped\n");
ret = -1;
}
return ret;
}
