Unset handle to cartesian iface on detach

Author: PeterBowman

libraries/YarpPlugins/CartesianControlServer/CartesianControlServer.hpp

@@ -85,6 +85,9 @@ class RpcResponder : public yarp::dev::DeviceResponder
     void setHandle(ICartesianControl * _iCartesianControl)
     { iCartesianControl = _iCartesianControl; }
 
+    void unsetHandle()
+    { iCartesianControl = nullptr; }
+
     bool respond(const yarp::os::Bottle & in, yarp::os::Bottle & out) override;
     void makeUsage();
 
@@ -151,6 +154,9 @@ class StreamResponder : public yarp::os::TypedReaderCallback<yarp::os::Bottle>
     void setHandle(ICartesianControl * _iCartesianControl)
     { iCartesianControl = _iCartesianControl;}
 
+    void unsetHandle()
+    { iCartesianControl = nullptr; }
+
     void onRead(yarp::os::Bottle & b) override;
 
 private:

libraries/YarpPlugins/CartesianControlServer/IWrapperImpl.cpp

@@ -51,6 +51,15 @@ bool CartesianControlServer::attach(yarp::dev::PolyDriver * poly)
 bool CartesianControlServer::detach()
 {
     yarp::os::PeriodicThread::stop();
+
+    rpcResponder->unsetHandle();
+    streamResponder->unsetHandle();
+
+    if (rpcTransformResponder)
+    {
+        rpcTransformResponder->unsetHandle();
+    }
+
     iCartesianControl = nullptr;
     return true;
 }