Merge topic 'CorrectVRPNDeviceServerShutdown'

f7d0354c BUG: Fixed examples to properly shutdown

Acked-by: Kitware Robot <kwrobot@kitware.com>
Acked-by: Ricardo Ortiz <ricardo.ortiz@kitware.com>
Merge-request: !65

Core/Module.cpp

@@ -28,7 +28,8 @@
 
 Module::Module() :
     isInitialized(false),
-    terminateExecution(false)
+    terminateExecution(false),
+    terminationCompleted(false)
 {
     this->name = "Module";
 }
@@ -57,10 +58,10 @@ bool Module::isTerminated()
 //---------------------------------------------------------------------------
 void Module::waitTermination()
 {
-    while ( 1 )
+    while (1)
     {
         //std::cout << this->name << std::endl;
-        if ( this->terminationCompleted == true )
+        if (true == isTerminationDone())
         {
             break;
         }

Core/SDK.cpp

@@ -178,7 +178,7 @@ void SDK::run()
         this->viewer->exec();
     }
 
-    // Tell framework threads to shutdown if the viewer returs
+    // Tell framework threads to shutdown if the viewer returns
     this->shutDown();
     this->terminateAll();
 

Devices/VRPNDeviceServer.cpp

@@ -36,7 +36,7 @@
 #include <server_src/vrpn_Phantom.h>
 #endif
 
-VRPNDeviceServer::VRPNDeviceServer() : connection(vrpn_create_server_connection())
+VRPNDeviceServer::VRPNDeviceServer() : connection(nullptr)
 {
     this->name = "VRPNDeviceServer";
 
@@ -45,32 +45,41 @@ VRPNDeviceServer::VRPNDeviceServer() : connection(vrpn_create_server_connection(
 //---------------------------------------------------------------------------
 void VRPNDeviceServer::exec()
 {
+    connection = vrpn_create_server_connection();
+
+    if(!connection)
+    {
+        this->terminateExecution = true;
+        this->terminationCompleted = true;
+        return;
+    }
+
     // Create the various device objects
     std::shared_ptr<vrpn_3DConnexion_SpaceExplorer> explorer =
     std::make_shared<vrpn_3DConnexion_SpaceExplorer>("explorer",
-                                                         this->connection.get());
+                                                         this->connection);
     std::shared_ptr<vrpn_3DConnexion_Navigator> navigator =
     std::make_shared<vrpn_3DConnexion_Navigator>("navigator",
-                                                        this->connection.get());
+                                                        this->connection);
     std::shared_ptr<vrpn_Tracker_RazerHydra> razer =
-        std::make_shared<vrpn_Tracker_RazerHydra>("razer", this->connection.get());
+        std::make_shared<vrpn_Tracker_RazerHydra>("razer", this->connection);
     std::shared_ptr<vrpn_Tracker_FilterOneEuro> razerFiltered =
         std::make_shared<vrpn_Tracker_FilterOneEuro>("razer_filtered",
-                                                     this->connection.get(),
+                                                     this->connection,
                                                      "*razer",
                                                      7);
     std::shared_ptr<vrpn_Xkeys_XK3> xkeys =
-        std::make_shared<vrpn_Xkeys_XK3>("xkeys", this->connection.get());
+        std::make_shared<vrpn_Xkeys_XK3>("xkeys", this->connection);
 
 #ifdef VRPN_USE_PHANTOM_SERVER
     std::shared_ptr<vrpn_Phantom> phantom =
         std::make_shared<vrpn_Phantom>("Phantom0",
-                                       this->connection.get(),
+                                       this->connection,
                                        60.0f,
                                        "Default PHANToM");
     std::shared_ptr<vrpn_Tracker_FilterOneEuro> phantomFiltered =
         std::make_shared<vrpn_Tracker_FilterOneEuro>("phantom_filtered",
-                                                     this->connection.get(),
+                                                     this->connection,
                                                      "*phantom",
                                                      7);
 #endif
@@ -93,5 +102,9 @@ void VRPNDeviceServer::exec()
         std::this_thread::sleep_for(this->pollDelay);
     }
 
+    // connections allocated with vrpn_create_server_connection()
+    // must decrement their reference to be auto-deleted by VRPN
+    connection->removeReference();
+
     this->terminationCompleted = true;
 }

Devices/VRPNDeviceServer.h

@@ -27,9 +27,6 @@
 
 #include "Devices/DeviceInterface.h"
 
-class vrpn_Analog;
-class vrpn_Tracker;
-class vrpn_ForceDeviceServer;
 class vrpn_Connection;
 
 class VRPNDeviceServer : public DeviceInterface
@@ -44,10 +41,7 @@ public:
     void exec() override;
 
 private:
-    std::vector<std::shared_ptr<vrpn_Analog>> analogServers;
-    std::vector<std::shared_ptr<vrpn_Tracker>> trackerServers;
-    std::vector<std::shared_ptr<vrpn_ForceDeviceServer>> forceServers;
-    std::shared_ptr<vrpn_Connection> connection;
+    vrpn_Connection *connection;
 };
 
 #endif // VRPNSERVERDEVICE_H

Solvers/ConjugateGradient.h

@@ -73,7 +73,7 @@ public:
     ///
     /// \brief Set the tolerance for the iterative solver
     ///
-    void setTolerance(const double epsilon)
+    void setTolerance(const double epsilon) override
     {
         this->minTolerance = epsilon;
         this->solver.setTolerance(epsilon);
@@ -82,7 +82,7 @@ public:
     ///
     /// \brief Set the maximum number of iterations for the iterative solver
     ///
-    void setMaximumIterations(const int maxIter)
+    void setMaximumIterations(const int maxIter) override
     {
         this->maxIterations = maxIter;
         this->solver.setMaxIterations(maxIter);

VirtualTools/LaparoscopicCameraController.cpp

@@ -159,9 +159,16 @@ void LaparoscopicCameraController::exec()
 
         std::this_thread::sleep_for(this->poolDelay);
     }
+
+    // Ensure proper shutdown takes place for the inputDevice
+    //  -Thread MUST be terminated before calling closeDevice()
+    //    -This is to prevent mainloops that do not check for deleted objects
+    //     from running.
+    this->inputDevice->terminate();
+    this->inputDevice->waitTermination();
     this->inputDevice->closeDevice();
 
-    this->terminate();
+    this->terminationCompleted = true;
 }
 
 bool LaparoscopicCameraController::updateCamera()