From ea061c14902cb8bca3d90e15a38982b1fcbd55f8 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 26 Sep 2018 19:38:22 +0200
Subject: [PATCH] Calls destroySotExternalInterface on clean up
---
src/sot_loader_basic.cpp | 19 +++++++++++++++++++
1 file changed, 19 insertions(+)
diff --git a/src/sot_loader_basic.cpp b/src/sot_loader_basic.cpp
index d2dd6f8..94e825c 100644
--- a/src/sot_loader_basic.cpp
+++ b/src/sot_loader_basic.cpp
@@ -214,6 +214,25 @@ void SotLoaderBasic::Initialization()
void SotLoaderBasic::CleanUp()
{
dynamicgraph::PoolStorage::destroy();
+ // We do not destroy the FactoryStorage singleton because the module will not
+ // be reloaded at next initialization (because Python C API cannot safely
+ // unload a module...).
+ // SignalCaster singleton could probably be destroyed.
+
+ // Load the symbols.
+ destroySotExternalInterface_t * destroySot =
+ reinterpret_cast<destroySotExternalInterface_t *>
+ (reinterpret_cast<long>
+ (dlsym(sotRobotControllerLibrary_,
+ "destroySotExternalInterface")));
+ const char* dlsym_error = dlerror();
+ if (dlsym_error) {
+ std::cerr << "Cannot load symbol destroy: " << dlsym_error << '\n';
+ return ;
+ }
+
+ destroySot (sotController_);
+ sotController_ = NULL;
/// Uncount the number of access to this library.
dlclose(sotRobotControllerLibrary_);
--
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