cyber: croutine remove after the croutine execute completed

cyber/scheduler/policy/choreography_context.cc

@@ -83,6 +83,10 @@ void ChoreographyContext::RemoveCRoutine(uint64_t crid) {
     auto cr = it->second;
     if (cr->id() == crid) {
       cr->Stop();
+      while (!cr->Acquire()) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
+        AINFO_EVERY(1000) << "waiting for task " << cr->name() << " completion";
+      }
       it = cr_queue_.erase(it);
       cr->Release();
       return;

cyber/scheduler/policy/scheduler_choreography.cc

@@ -230,8 +230,12 @@ bool SchedulerChoreography::RemoveCRoutine(uint64_t crid) {
     for (auto it = croutines.begin(); it != croutines.end(); ++it) {
       if ((*it)->id() == crid) {
         auto cr = *it;
-
         cr->Stop();
+        while (!cr->Acquire()) {
+          std::this_thread::sleep_for(std::chrono::milliseconds(1));
+          AINFO_EVERY(1000) << "waiting for task "
+                            << cr->name() << " completion";
+        }
         croutines.erase(it);
         cr->Release();
         return true;

cyber/scheduler/policy/scheduler_classic.cc

@@ -226,8 +226,11 @@ bool SchedulerClassic::RemoveCRoutine(uint64_t crid) {
        it != ClassicContext::cr_group_[group_name].at(prio).end(); ++it) {
     if ((*it)->id() == crid) {
       auto cr = *it;
-
-      (*it)->Stop();
+      cr->Stop();
+      while (!cr->Acquire()) {
+        std::this_thread::sleep_for(std::chrono::microseconds(1));
+        AINFO_EVERY(1000) << "waiting for task " << cr->name() << " completion";
+      }
       it = ClassicContext::cr_group_[group_name].at(prio).erase(it);
       cr->Release();
       return true;

cyber/task/task_manager.cc

@@ -62,10 +62,6 @@ 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