1

server/robotserver/comgr.cc

@@ -6,6 +6,7 @@
 void CoMgr::Init()
 {
     INIT_LIST_HEAD(&co_list_);
+    INIT_LIST_HEAD(&exec_list_);
 }
 
 void CoMgr::UnInit()
@@ -17,11 +18,15 @@ void CoMgr::Update()
 {
     Coroutine *co = nullptr, *tmp = nullptr;
     list_for_each_entry_safe(co, tmp, &co_list_, entry) {
-        co->Exec();
+        if (!co->Exec()) {
+            co->hold_self_ = nullptr;
+        }
     }
 }
 
 std::weak_ptr<Coroutine> CoMgr::CreateCoroutine(std::function<void(Coroutine*)> cb)
 {
-    return std::make_shared<Coroutine>(cb);
+    auto co = std::make_shared<Coroutine>(cb);
+    co->hold_self_ = co;
+    return co;
 }

server/robotserver/comgr.h

@@ -22,5 +22,7 @@ class CoMgr : public a8::Singleton<CoMgr>
 
     list_head co_list_;
 
+    list_head exec_list_;
+
     friend class Coroutine;
 };

server/robotserver/coroutine.cc

@@ -17,20 +17,23 @@ Coroutine::Coroutine(std::function<void(Coroutine*)> cb)
              cb_(this);
              CallExit(sink);
          });
+    list_add_tail(&entry, &CoMgr::Instance()->co_list_);
     Attach();
 }
 
 Coroutine::~Coroutine()
 {
     Deatch();
+    list_del_init(&entry);
 }
 
-void Coroutine::Exec()
+bool Coroutine::Exec()
 {
     if (*source_) {
         (*source_)();
+        return true;
     } else {
-        Deatch();
+        return false;
     }
 }
 
@@ -61,7 +64,7 @@ void Coroutine::CoAwait(Awaiter* awaiter)
 
 void Coroutine::Attach()
 {
-    list_add_tail(&entry, &CoMgr::Instance()->co_list_);
+    list_add_tail(&entry, &CoMgr::Instance()->exec_list_);
 }
 
 void Coroutine::Deatch()

server/robotserver/coroutine.h

@@ -12,7 +12,7 @@ class Promise : public Awaiter
 
 };
 
-class Coroutine : public Awaiter
+class Coroutine : public Awaiter, public std::enable_shared_from_this<Coroutine>
 {
  public:
     list_head entry;
@@ -20,7 +20,7 @@ class Coroutine : public Awaiter
     Coroutine(std::function<void(Coroutine*)> cb);
     ~Coroutine();
 
-    void Exec();
+    bool Exec();
     void CoSuspend();
     void CoResume();
     void CoYield();
@@ -35,8 +35,10 @@ class Coroutine : public Awaiter
     void CallExit(boost::coroutines2::coroutine<void>::push_type& sink);
 
  private:
+    std::shared_ptr<Coroutine> hold_self_;
     std::shared_ptr<boost::coroutines2::coroutine<void>::pull_type> source_;
     std::function<void(Coroutine* co)> cb_;
     boost::coroutines2::coroutine<void>::push_type* sink_ = nullptr;
 
+    friend class CoMgr;
 };