logic: terminating all running tasks before closing the application (issue #343)

src/lib/utility/scheduling/Task.cpp

@@ -48,3 +48,8 @@ void Task::reset(std::shared_ptr<Blackboard> blackboard)
 	m_enterCalled = false;
 	m_exitCalled = false;
 }
+
+void Task::terminate()
+{
+}
+

src/lib/utility/scheduling/Task.h

@@ -23,6 +23,7 @@ public:
 
 	TaskState update(std::shared_ptr<Blackboard> blackboard);
 	void reset(std::shared_ptr<Blackboard> blackboard);
+	virtual void terminate(); // caution: this should only be called just before quitting the app.
 
 private:
 	virtual void doEnter(std::shared_ptr<Blackboard> blackboard) = 0;

src/lib/utility/scheduling/TaskDecorator.cpp

@@ -13,3 +13,8 @@ std::shared_ptr<TaskDecorator> TaskDecorator::addChildTask(std::shared_ptr<Task>
 	setTask(child);
 	return shared_from_this();
 }
+
+void TaskDecorator::terminate()
+{
+	doTerminate();
+}

src/lib/utility/scheduling/TaskDecorator.h

@@ -15,6 +15,10 @@ public:
 	std::shared_ptr<TaskDecorator> addChildTask(std::shared_ptr<Task> child);
 
 	virtual void setTask(std::shared_ptr<Task> task) = 0;
+	virtual void terminate();
+
+private:
+	virtual void doTerminate() = 0;
 };
 
 #endif // TASK_DECORATOR_H

src/lib/utility/scheduling/TaskDecoratorRepeat.cpp

@@ -48,3 +48,8 @@ void TaskDecoratorRepeat::doReset(std::shared_ptr<Blackboard> blackboard)
 {
 	m_taskRunner->reset();
 }
+
+void TaskDecoratorRepeat::doTerminate()
+{
+	m_taskRunner->terminate();
+}

src/lib/utility/scheduling/TaskDecoratorRepeat.h

@@ -24,6 +24,7 @@ private:
 	virtual TaskState doUpdate(std::shared_ptr<Blackboard> blackboard);
 	virtual void doExit(std::shared_ptr<Blackboard> blackboard);
 	virtual void doReset(std::shared_ptr<Blackboard> blackboard);
+	virtual void doTerminate();
 
 	std::shared_ptr<TaskRunner> m_taskRunner;
 	const ConditionType m_condition;

src/lib/utility/scheduling/TaskGroup.cpp

@@ -27,4 +27,9 @@ std::shared_ptr<TaskGroup> TaskGroup::addChildTasks(std::shared_ptr<Task> child1
 	addTask(child2);
 	addTask(child3);
 	return shared_from_this();
-}
+}
+
+void TaskGroup::terminate()
+{
+	doTerminate();
+}

src/lib/utility/scheduling/TaskGroup.h

@@ -18,6 +18,10 @@ public:
 	std::shared_ptr<TaskGroup> addChildTasks(std::shared_ptr<Task> child1, std::shared_ptr<Task> child2, std::shared_ptr<Task> child3);
 
 	virtual void addTask(std::shared_ptr<Task> task) = 0;
+	virtual void terminate();
+
+private:
+	virtual void doTerminate() = 0;
 };
 
 

src/lib/utility/scheduling/TaskGroupParallel.cpp

@@ -73,6 +73,19 @@ void TaskGroupParallel::doReset(std::shared_ptr<Blackboard> blackboard)
 	}
 }
 
+void TaskGroupParallel::doTerminate()
+{
+	for (size_t i = 0; i < m_tasks.size(); i++)
+	{
+		m_tasks[i]->taskRunner->terminate();
+		if (m_tasks[i]->thread)
+		{
+			m_tasks[i]->thread->detach();
+			m_tasks[i]->thread.reset();
+		}
+	}
+}
+
 void TaskGroupParallel::processTaskThreaded(std::shared_ptr<TaskInfo> taskInfo, std::shared_ptr<Blackboard> blackboard)
 {
 	ScopedFunctor functor([&](){

src/lib/utility/scheduling/TaskGroupParallel.h

@@ -33,6 +33,7 @@ private:
 	virtual TaskState doUpdate(std::shared_ptr<Blackboard> blackboard);
 	virtual void doExit(std::shared_ptr<Blackboard> blackboard);
 	virtual void doReset(std::shared_ptr<Blackboard> blackboard);
+	virtual void doTerminate();
 
 	void processTaskThreaded(std::shared_ptr<TaskInfo> taskInfo, std::shared_ptr<Blackboard> blackboard);
 	int getActveTaskCount() const;

src/lib/utility/scheduling/TaskGroupSelector.cpp

@@ -54,3 +54,11 @@ void TaskGroupSelector::doReset(std::shared_ptr<Blackboard> blackboard)
 		m_taskRunners[i]->reset();
 	}
 }
+
+void TaskGroupSelector::doTerminate()
+{
+	for (size_t i = 0; i < m_taskRunners.size(); i++)
+	{
+		m_taskRunners[i]->terminate();
+	}
+}

src/lib/utility/scheduling/TaskGroupSelector.h

@@ -18,6 +18,7 @@ private:
 	virtual TaskState doUpdate(std::shared_ptr<Blackboard> blackboard);
 	virtual void doExit(std::shared_ptr<Blackboard> blackboard);
 	virtual void doReset(std::shared_ptr<Blackboard> blackboard);
+	virtual void doTerminate();
 
 	std::vector<std::shared_ptr<TaskRunner>> m_taskRunners;
 	int m_taskIndex;

src/lib/utility/scheduling/TaskGroupSequence.cpp

@@ -54,3 +54,11 @@ void TaskGroupSequence::doReset(std::shared_ptr<Blackboard> blackboard)
 		m_taskRunners[i]->reset();
 	}
 }
+
+void TaskGroupSequence::doTerminate()
+{
+	for (size_t i = 0; i < m_taskRunners.size(); i++)
+	{
+		m_taskRunners[i]->terminate();
+	}
+}

src/lib/utility/scheduling/TaskGroupSequence.h

@@ -18,6 +18,7 @@ private:
 	virtual TaskState doUpdate(std::shared_ptr<Blackboard> blackboard);
 	virtual void doExit(std::shared_ptr<Blackboard> blackboard);
 	virtual void doReset(std::shared_ptr<Blackboard> blackboard);
+	virtual void doTerminate();
 
 	std::vector<std::shared_ptr<TaskRunner>> m_taskRunners;
 	int m_taskIndex;

src/lib/utility/scheduling/TaskRunner.cpp

@@ -26,4 +26,13 @@ void TaskRunner::reset()
 	m_reset = true;
 }
 
+void TaskRunner::terminate()
+{
+	if (m_task)
+	{
+		m_task->terminate();
+	}
+}
+
+
 

src/lib/utility/scheduling/TaskRunner.h

@@ -13,10 +13,11 @@ public:
 
 	Task::TaskState update(std::shared_ptr<Blackboard> blackboard);
 	void reset();
+	void terminate(); // caution: this should only be called just before quitting the app.
 
 private:
 	std::shared_ptr<Task> m_task;
 	bool m_reset;
 };
 
-#endif // TASK_H
+#endif // TASK_RUNNER_H

src/lib/utility/scheduling/TaskScheduler.cpp

@@ -161,6 +161,7 @@ void TaskScheduler::processTasks()
 
 					if (!m_loopIsRunning)
 					{
+						runner->terminate();
 						break;
 					}
 				}