MccGenericNetworkServer: fix client session thread pool behavior in

destructor

asibfm700/asibfm700_servocontroller.cpp

@@ -106,6 +106,9 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareInit()
 
 AsibFM700ServoController::error_t AsibFM700ServoController::hardwareSetState(hardware_state_t state)
 {
+    static thread_local coordval_pair_t cvalpair{.X{0.0, 0.0}, .Y{0.0, 0.0}};
+    static thread_local coordpair_t cpair{.X = 0.0, .Y = 0.0};
+
     // time point from sidservo library is 'double' number represented UNIXTIME with
     // microseconds/nanoseconds precision
     double tp = std::chrono::duration<double>(state.time_point.time_since_epoch()).count();
@@ -113,9 +116,16 @@ AsibFM700ServoController::error_t AsibFM700ServoController::hardwareSetState(har
     std::lock_guard lock{*_setStateMutex};
 
     // according to"SiTech protocol notes" X is DEC-axis and Y is HA-axis
-    coordval_pair_t cvalpair{.X{.val = state.Y, .t = tp}, .Y{.val = state.X, .t = tp}};
+    // coordval_pair_t cvalpair{.X{.val = state.Y, .t = tp}, .Y{.val = state.X, .t = tp}};
-    coordpair_t cpair{.X = state.Y, .Y = state.X};
+    // coordpair_t cpair{.X = state.Y, .Y = state.X};
-    // coordpair_t cpair{.X = state.Y, .Y = state.X + mcc::MccAngle(1.0_degs)};
+    // coordpair_t cpair{.X = state.Y + mcc::MccAngle(1.0_degs), .Y = state.X + mcc::MccAngle(1.0_degs)};
+
+
+    cvalpair.X = {.val = state.Y, .t = tp};
+    cvalpair.Y = {.val = state.X, .t = tp};
+
+    cpair.X = state.Y;
+    cpair.Y = state.X;
 
     // correctTo is asynchronous function!!!
     //

mcc/mcc_netserver.h

@@ -188,7 +188,7 @@ public:
         std::stringstream st;
         st << std::this_thread::get_id();
 
-        logInfo(std::format("Create generic network server instance (thread ID = {})", st.str()));
+        logInfo(std::format("Create MccGenericNetworkServer class instance (thread ID = {})", st.str()));
     }
 
     // MccNetworkServer(asio::io_context& ctx, const handle_message_func_t& func, LoggerT logger = MccNullLogger{})
@@ -208,6 +208,10 @@ public:
         logInfo(std::format("Delete generic network server instance (thread ID = {}) ...", st.str()));
 
         stopListening();
+
+        _sessionThreadPool.stop();
+        _sessionThreadPool.join();
+
         disconnectClients();
     }
 
@@ -585,8 +589,15 @@ public:
         _stopSignal.async_wait([this](std::error_code, int signo) {
             logInfo(std::format("Stop signal was received (signo = {})", signo));
 
-            stopListening();
+            // _handleMessageFunc(MCC_COMMPROTO_KEYWORD_STOP_STR);
-            disconnectClients();
+            // std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+            // stopListening();
+
+            // _sessionThreadPool.stop();
+            // _sessionThreadPool.join();
+
+            // disconnectClients();
 
             _asioContext.stop();
         });
@@ -913,10 +924,21 @@ class MccGenericMountNetworkServer : public MccGenericNetworkServer<LoggerT>
 public:
     using typename base_t::handle_message_func_result_t;
 
+    using base_t::logDebug;
+    using base_t::logError;
+    using base_t::logInfo;
+    using base_t::logTrace;
+    using base_t::logWarn;
+
     template <mcc_generic_mount_c MountT, typename... LoggerCtorArgsTs>
     MccGenericMountNetworkServer(asio::io_context& ctx, MountT& mount, LoggerCtorArgsTs&&... log_args)
         : base_t(ctx, {}, std::forward<LoggerCtorArgsTs>(log_args)...)
     {
+        std::stringstream st;
+        st << std::this_thread::get_id();
+
+        logInfo(std::format("Create MccGenericMountNetworkServer class instance (thread ID = {})", st.str()));
+
         // to avoid possible compiler optimization (one needs to catch 'mount' strictly by reference)
         auto* mount_ptr = &mount;
 
@@ -939,15 +961,27 @@ public:
 
             return output_msg.template byteRepr<typename base_t::handle_message_func_result_t>();
         };
+
+        // special functor (used in the destructor)
+        _stopMountFunc = [mount_ptr]() { mount_ptr->stopMount(); };
     }
 
-    virtual ~MccGenericMountNetworkServer() {}
+    virtual ~MccGenericMountNetworkServer()
+    {
+        std::stringstream st;
+        st << std::this_thread::get_id();
+
+        _stopMountFunc();
+
+        logInfo(std::format("Delete MccGenericMountNetworkServer class instance (thread ID = {})", st.str()));
+    }
 
 protected:
     MccCoordinateSerializer::SerializedCoordFormat _coordFormat{
         MccCoordinateSerializer::SerializedCoordFormat::CFMT_SGM};
     MccCoordinateSerializer::SexagesimalCoordPrec _coordPrec{2, 1};
 
+    std::function<void()> _stopMountFunc{};
 
     template <typename RESULT_MSG_T, typename INPUT_MSG_T, mcc_generic_mount_c MountT>
     RESULT_MSG_T handleMessage(const INPUT_MSG_T& input_msg, MountT* mount_ptr)