logic: Fixed termination issues in task scheduling

* don't use thread::detach() in TaskGroupParallel::terminate to make it useful for tabs
* properly terminate TaskFillIndexerCommandQueue
* fixed wrong microsecond delays
* moved some task delays to TaskDecoratorRepeat for better transparency

src/lib/utility/scheduling/TaskDecoratorDelay.cpp

@@ -4,12 +4,13 @@
 
 TaskDecoratorDelay::TaskDecoratorDelay(size_t delayMS)
 	: m_delayMS(delayMS)
-	, m_delayComplete(delayMS == 0)
+	, m_delayComplete(false)
 {
 }
 
 void TaskDecoratorDelay::doEnter(std::shared_ptr<Blackboard> blackboard)
 {
+	m_delayComplete = (m_delayMS == 0);
 	m_start = TimeStamp::now();
 }
 
@@ -20,8 +21,8 @@ Task::TaskState TaskDecoratorDelay::doUpdate(std::shared_ptr<Blackboard> blackbo
 		return m_taskRunner->update(blackboard);
 	}
 
-	const int SLEEP_TIME_MS = 25;
-	std::this_thread::sleep_for(std::chrono::microseconds(SLEEP_TIME_MS));
+	const int SLEEP_TIME_MS = (m_delayMS / 3) + 1;
+	std::this_thread::sleep_for(std::chrono::milliseconds(SLEEP_TIME_MS));
 
 	m_delayComplete = (TimeStamp::now().deltaMS(m_start) >= m_delayMS);
 

src/lib/utility/scheduling/TaskDecoratorRepeat.cpp

@@ -1,8 +1,12 @@
 #include "TaskDecoratorRepeat.h"
 
-TaskDecoratorRepeat::TaskDecoratorRepeat(ConditionType condition, TaskState exitState)
+#include <chrono>
+#include <thread>
+
+TaskDecoratorRepeat::TaskDecoratorRepeat(ConditionType condition, TaskState exitState, size_t delayMS)
 	: m_condition(condition)
 	, m_exitState(exitState)
+	, m_delayMS(delayMS)
 {
 }
 
@@ -29,6 +33,8 @@ Task::TaskState TaskDecoratorRepeat::doUpdate(std::shared_ptr<Blackboard> blackb
 		break;
 	}
 
+	std::this_thread::sleep_for(std::chrono::milliseconds(m_delayMS));
+
 	return state;
 }
 

src/lib/utility/scheduling/TaskDecoratorRepeat.h

@@ -15,7 +15,7 @@ public:
 		CONDITION_WHILE_SUCCESS
 	};
 
-	TaskDecoratorRepeat(ConditionType condition, TaskState exitState);
+	TaskDecoratorRepeat(ConditionType condition, TaskState exitState, size_t delayMS);
 
 private:
 	void doEnter(std::shared_ptr<Blackboard> blackboard) override;
@@ -25,6 +25,7 @@ private:
 
 	const ConditionType m_condition;
 	const TaskState m_exitState;
+	const size_t m_delayMS;
 };
 
 #endif // TASK_DECORATOR_REPEAT_H

src/lib/utility/scheduling/TaskGroupParallel.cpp

@@ -78,9 +78,13 @@ void TaskGroupParallel::doTerminate()
 	for (size_t i = 0; i < m_tasks.size(); i++)
 	{
 		m_tasks[i]->taskRunner->terminate();
+	}
+
+	for (size_t i = 0; i < m_tasks.size(); i++)
+	{
 		if (m_tasks[i]->thread)
 		{
-			m_tasks[i]->thread->detach();
+			m_tasks[i]->thread->join();
 			m_tasks[i]->thread.reset();
 		}
 	}

src/lib/utility/scheduling/TaskReturnSuccessIf.h

@@ -44,9 +44,6 @@ void TaskReturnSuccessIf<T>::doEnter(std::shared_ptr<Blackboard> blackboard)
 template <typename T>
 Task::TaskState TaskReturnSuccessIf<T>::doUpdate(std::shared_ptr<Blackboard> blackboard)
 {
-	const int SLEEP_TIME_MS = 25;
-	std::this_thread::sleep_for(std::chrono::microseconds(SLEEP_TIME_MS));
-
 	T lhsValue = 0;
 	blackboard->get<T>(m_lhsValueName, lhsValue);