framework: Fix crash during shutdown

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;

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_; }

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;