From e9dcb4c51a49b13aa6827a95435e2a98bdbe1c17 Mon Sep 17 00:00:00 2001
From: azural <glacierhw@163.com>
Date: Mon, 24 Sep 2018 10:58:37 -0700
Subject: [PATCH] framework: Fix crash during shutdown

---
 framework/cybertron/scheduler/scheduler.cpp | 8 +++++++-
 framework/cybertron/scheduler/scheduler.h   | 1 +
 framework/cybertron/task/task_manager.h     | 4 ++--
 3 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/framework/cybertron/scheduler/scheduler.cpp b/framework/cybertron/scheduler/scheduler.cpp
index 6fd55448fe..f1d016c826 100644
--- a/framework/cybertron/scheduler/scheduler.cpp
+++ b/framework/cybertron/scheduler/scheduler.cpp
@@ -130,7 +130,13 @@ bool Scheduler::CreateTask(std::function<void()>&& func,
   return true;
 }
 
-// TODO(xinjiankang)
+bool Scheduler::NotifyTask(uint64_t task_id) const {
+  if (stop_) {
+    return true;
+  }
+  return proc_balancer_->NotifyProcessor(task_id);
+}
+
 bool Scheduler::RemoveTask(const std::string& name) {
   if (stop_) {
     return true;
diff --git a/framework/cybertron/scheduler/scheduler.h b/framework/cybertron/scheduler/scheduler.h
index da9e033a44..776865f5d8 100644
--- a/framework/cybertron/scheduler/scheduler.h
+++ b/framework/cybertron/scheduler/scheduler.h
@@ -57,6 +57,7 @@ class Scheduler {
   bool CreateTask(std::function<void()>&& func, const std::string& name,
                   std::shared_ptr<DataVisitorBase> visitor = nullptr);
   bool RemoveTask(const std::string& name);
+  bool NotifyTask(uint64_t task_id) const;
   void PrintStatistics();
   void ShutDown();
   static uint32_t ProcessorNum() { return processor_num_; }
diff --git a/framework/cybertron/task/task_manager.h b/framework/cybertron/task/task_manager.h
index e1b35f8c79..a8b7aa19d9 100644
--- a/framework/cybertron/task/task_manager.h
+++ b/framework/cybertron/task/task_manager.h
@@ -21,7 +21,7 @@
 #include <string>
 
 #include "cybertron/base/bounded_queue.h"
-#include "cybertron/scheduler/proc_balancer.h"
+#include "cybertron/scheduler/scheduler.h"
 
 namespace apollo {
 namespace cybertron {
@@ -38,7 +38,7 @@ class TaskManager {
         std::bind(std::forward<F>(func), std::forward<Args>(args)...));
     task_queue_->Enqueue([task]() { (*task)(); });
     for (auto& task : tasks_) {
-      scheduler::ProcBalancer::Instance()->NotifyProcessor(task);
+      scheduler::Scheduler::Instance()->NotifyTask(task);
     }
     std::future<return_type> res(task->get_future());
     return res;
-- 
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