cyber: fix exit hang issue (ApolloAuto#9384)

cyber/component/timer_component.cc

@@ -42,19 +42,20 @@ bool TimerComponent::Initialize(const TimerComponentConfig& config) {
     return false;
   }
 
-  std::weak_ptr<TimerComponent> self =
+  std::shared_ptr<TimerComponent> self =
       std::dynamic_pointer_cast<TimerComponent>(shared_from_this());
   auto func = [self]() {
-    auto ptr = self.lock();
-    if (ptr) {
-      ptr->Proc();
-    }
+    self->Proc();
   };
   timer_.reset(new Timer(config.interval(), func, false));
   timer_->Start();
   return true;
 }
 
+void TimerComponent::Clear() {
+  timer_.reset();
+}
+
 uint64_t TimerComponent::GetInterval() const { return interval_; }
 
 }  // namespace cyber

cyber/component/timer_component.h

@@ -45,6 +45,7 @@ class TimerComponent : public ComponentBase {
    * @return returns true if successful, otherwise returns false
    */
   bool Initialize(const TimerComponentConfig& config) override;
+  void Clear() override;
   bool Process();
   uint64_t GetInterval() const;
 

cyber/task/task_manager.cc

@@ -62,6 +62,9 @@ void TaskManager::Shutdown() {
   if (stop_.exchange(true)) {
     return;
   }
+  for (uint32_t i = 0; i < num_threads_; i++) {
+    scheduler::Instance()->RemoveTask(task_prefix + std::to_string(i));
+  }
 }
 
 }  // namespace cyber

cyber/timer/timer.cc

@@ -61,14 +61,23 @@ bool Timer::InitTimerTask() {
   task_->interval_ms = timer_opt_.period;
   task_->next_fire_duration_ms = task_->interval_ms;
   if (timer_opt_.oneshot) {
-    task_->callback = timer_opt_.callback;
+    std::weak_ptr<TimerTask> task_weak_ptr = task_;
+    task_->callback = [callback = this->timer_opt_.callback, task_weak_ptr]() {
+      auto task = task_weak_ptr.lock();
+      if (!task) {
+        return;
+      }
+      std::lock_guard<std::mutex> lg(task->mtx_);
+      callback();
+    };
   } else {
     std::weak_ptr<TimerTask> task_weak_ptr = task_;
     task_->callback = [callback = this->timer_opt_.callback, task_weak_ptr]() {
       auto task = task_weak_ptr.lock();
       if (!task) {
         return;
       }
+      std::lock_guard<std::mutex> lg(task->mtx_);
       auto start = Time::MonoTime().ToNanosecond();
       callback();
       auto end = Time::MonoTime().ToNanosecond();
@@ -130,7 +139,8 @@ void Timer::Start() {
 
 void Timer::Stop() {
   if (started_.exchange(false)) {
-    ADEBUG << "stop timer ";
+    AINFO << "stop timer, the timer_id: " << timer_id_;
+    std::lock_guard<std::mutex> lg(task_->mtx_);
     task_.reset();
   }
 }

cyber/timer/timer_task.h

@@ -18,6 +18,7 @@
 #define CYBER_TIMER_TIMER_TASK_H_
 
 #include <functional>
+#include <mutex>
 
 namespace apollo {
 namespace cyber {
@@ -33,6 +34,7 @@ struct TimerTask {
   uint64_t next_fire_duration_ms = 0;
   int64_t accumulated_error_ns_ = 0;
   uint64_t last_execute_time_ns_ = 0;
+  std::mutex mtx_;
 };
 
 }  // namespace cyber

modules/control/control_component_test.cc

@@ -52,6 +52,12 @@ class ControlComponentTest : public ::testing::Test {
     SetupCyber();
   }
 
+  virtual void TearDown() {
+    if (control_component_) {
+      control_component_->Shutdown();
+    }
+  }
+
  protected:
   bool FeedTestData();
   void SetupCyber();