Release messaging sockets and context on shutdown (#1391)

* release resources when thread is done

* add white space

* add white space

Co-authored-by: deanlee <deanlee3@gmail.com>

selfdrive/boardd/boardd.cc

@@ -632,6 +632,9 @@ void *can_send_thread(void *crap) {
   while (!do_exit) {
     can_send(subscriber);
   }
+  
+  delete subscriber;
+  delete context;
   return NULL;
 }
 
@@ -662,6 +665,9 @@ void *can_recv_thread(void *crap) {
 
     next_frame_time += dt;
   }
+
+  delete publisher;
+  delete c;
   return NULL;
 }
 
@@ -677,6 +683,9 @@ void *can_health_thread(void *crap) {
     can_health(publisher);
     usleep(500*1000);
   }
+
+  delete publisher;
+  delete c;
   return NULL;
 }
 
@@ -911,6 +920,8 @@ void *pigeon_thread(void *crap) {
     cnt++;
   }
 
+  delete publisher;
+  delete context;
   return NULL;
 }
 

selfdrive/clocksd/clocksd.cc

@@ -67,6 +67,6 @@ int main() {
 
   close(timerfd);
   delete clock_publisher;
-
+  delete context;
   return 0;
 }

selfdrive/loggerd/loggerd.cc

@@ -731,7 +731,8 @@ int main(int argc, char** argv) {
   for (auto s : socks){
     delete s;
   }
-
+  
+  delete poller;
   delete s.ctx;
   return 0;
 }

selfdrive/modeld/dmonitoringmodeld.cc

@@ -94,7 +94,7 @@ int main(int argc, char **argv) {
   visionstream_destroy(&stream);
 
   delete dmonitoring_sock;
-  delete dmonstate_sock;
+  delete msg_context;
   dmonitoring_free(&dmonitoringmodel);
 
   return 0;

selfdrive/modeld/modeld.cc

@@ -85,7 +85,10 @@ void* live_thread(void *arg) {
     }
 
   }
-
+  
+  delete live_calibration_sock;
+  delete poller;
+  delete c;
 
   return NULL;
 }
@@ -236,7 +239,10 @@ int main(int argc, char **argv) {
   visionstream_destroy(&stream);
 
   delete model_sock;
-  
+  delete posenet_sock;
+  delete pathplan_sock;
+  delete msg_context;
+
   model_free(&model);
 
   LOG("joining live_thread");