From 755fd5dcd07ee80a8c7793c8e25b02e06b865d49 Mon Sep 17 00:00:00 2001
From: aozhiwei <aozhiwei@kingsome.cn>
Date: Thu, 18 May 2023 22:25:42 +0800
Subject: [PATCH] 1

---
 server/robotserver/comgr.h      |  1 +
 server/robotserver/coroutine.cc | 35 +++++++++++++++++++++++++--------
 server/robotserver/coroutine.h  |  4 ++++
 3 files changed, 32 insertions(+), 8 deletions(-)

diff --git a/server/robotserver/comgr.h b/server/robotserver/comgr.h
index 8bd9d99e..8c096163 100644
--- a/server/robotserver/comgr.h
+++ b/server/robotserver/comgr.h
@@ -19,4 +19,5 @@ class CoMgr : public a8::Singleton<CoMgr>
 
     list_head co_list_;
 
+    friend class Coroutine;
 };
diff --git a/server/robotserver/coroutine.cc b/server/robotserver/coroutine.cc
index 80eaf034..5f4f7e53 100644
--- a/server/robotserver/coroutine.cc
+++ b/server/robotserver/coroutine.cc
@@ -3,6 +3,7 @@
 #include <iostream>
 
 #include "coroutine.h"
+#include "comgr.h"
 
 Coroutine::Coroutine(std::function<void(Coroutine*)> cb)
 {
@@ -16,30 +17,36 @@ Coroutine::Coroutine(std::function<void(Coroutine*)> cb)
              cb_(this);
              CallExit(sink);
          });
-    while (*source_) {
-        a8::XPrintf("xxxxx\n", {});
-        (*source_)();
-    }
+    Attach();
+}
+
+Coroutine::~Coroutine()
+{
+    Deatch();
 }
 
 void Coroutine::Exec()
 {
-
+    if (*source_) {
+        (*source_)();
+    } else {
+        Deatch();
+    }
 }
 
 void Coroutine::CoSuspend()
 {
-
+    Deatch();
 }
 
 void Coroutine::CoResume()
 {
-
+    Attach();
 }
 
 void Coroutine::CoYield()
 {
-
+    (*sink_)();
 }
 
 void Coroutine::CoAwait(Awaiter& awaiter)
@@ -52,6 +59,18 @@ void Coroutine::CoAwait(Awaiter* awaiter)
 
 }
 
+void Coroutine::Attach()
+{
+    list_add_tail(&entry, &CoMgr::Instance()->co_list_);
+}
+
+void Coroutine::Deatch()
+{
+    if (list_empty(&entry)) {
+        list_del_init(&entry);
+    }
+}
+
 void Coroutine::CallEnter(boost::coroutines2::coroutine<void>::push_type& sink)
 {
     sink_ = &sink;
diff --git a/server/robotserver/coroutine.h b/server/robotserver/coroutine.h
index 6abf6104..940e5551 100644
--- a/server/robotserver/coroutine.h
+++ b/server/robotserver/coroutine.h
@@ -18,6 +18,7 @@ class Coroutine : public Awaiter
     list_head entry;
 
     Coroutine(std::function<void(Coroutine*)> cb);
+    ~Coroutine();
 
     void Exec();
     void CoSuspend();
@@ -28,6 +29,8 @@ class Coroutine : public Awaiter
 
  private:
 
+    void Attach();
+    void Deatch();
     void CallEnter(boost::coroutines2::coroutine<void>::push_type& sink);
     void CallExit(boost::coroutines2::coroutine<void>::push_type& sink);
 
@@ -35,4 +38,5 @@ class Coroutine : public Awaiter
     std::shared_ptr<boost::coroutines2::coroutine<void>::pull_type> source_;
     std::function<void(Coroutine* co)> cb_;
     boost::coroutines2::coroutine<void>::push_type* sink_ = nullptr;
+
 };