framework: fix static initialization order issue during exit

cyber/common/macros.h

@@ -31,16 +31,15 @@
   classname(const classname &) = delete;    \
   classname &operator=(const classname &) = delete;
 
-#define DECLARE_SINGLETON(classname)                                \
- public:                                                            \
-  static const std::shared_ptr<classname> &Instance() {             \
-    static auto instance =                                          \
-        std::shared_ptr<classname>(new (std::nothrow) classname()); \
-    return instance;                                                \
-  }                                                                 \
-                                                                    \
- private:                                                           \
-  classname();                                                      \
+#define DECLARE_SINGLETON(classname)                       \
+ public:                                                   \
+  static classname *Instance() {                           \
+    static auto instance = new (std::nothrow) classname(); \
+    return instance;                                       \
+  }                                                        \
+                                                           \
+ private:                                                  \
+  classname();                                             \
   DISALLOW_COPY_AND_ASSIGN(classname)
 
 #endif  // CYBER_COMMON_MACROS_H_

cyber/data/data_dispatcher.h

@@ -46,7 +46,7 @@ class DataDispatcher {
   bool Dispatch(const uint64_t channel_id, const std::shared_ptr<T>& msg);
 
  private:
-  std::shared_ptr<DataNotifier> notifier_ = DataNotifier::Instance();
+  DataNotifier* notifier_ = DataNotifier::Instance();
   std::mutex buffers_map_mutex_;
   AtomicHashMap<uint64_t, BufferVector> buffers_map_;
 

cyber/data/data_visitor_base.h

@@ -44,7 +44,7 @@ class DataVisitorBase {
   DataVisitorBase& operator=(const DataVisitorBase&) = delete;
 
   uint64_t next_msg_index_ = 0;
-  std::shared_ptr<DataNotifier> data_notifier_ = DataNotifier::Instance();
+  DataNotifier* data_notifier_ = DataNotifier::Instance();
   std::shared_ptr<Notifier> notifier_;
 };
 

cyber/service_discovery/topology_manager_test.cc

@@ -33,7 +33,7 @@ class TopologyTest : public ::testing::Test {
 
   virtual void TearDown() {}
 
-  std::shared_ptr<TopologyManager> topology_;
+  TopologyManager* topology_;
 };
 
 TEST_F(TopologyTest, add_and_remove_change_listener) {

cyber/timer/timer.h

@@ -74,7 +74,7 @@ class Timer {
 
  private:
   TimerOption timer_opt_;
-  std::shared_ptr<TimerManager> tm_ = nullptr;
+  TimerManager* tm_ = nullptr;
   uint64_t timer_id_ = 0;
 };
 

cyber/timer/timer_manager_test.cc

@@ -25,12 +25,12 @@ namespace apollo {
 namespace cyber {
 
 TEST(TimerManagerTest, Basic) {
-  std::shared_ptr<TimerManager> tm_ = TimerManager::Instance();
-  ASSERT_EQ(tm_->IsRunning(), false);
-  tm_->Start();
-  ASSERT_EQ(tm_->IsRunning(), true);
-  tm_->Shutdown();
-  ASSERT_EQ(tm_->IsRunning(), false);
+  auto tm = TimerManager::Instance();
+  ASSERT_EQ(tm->IsRunning(), false);
+  tm->Start();
+  ASSERT_EQ(tm->IsRunning(), true);
+  tm->Shutdown();
+  ASSERT_EQ(tm->IsRunning(), false);
 }
 
 }  // namespace cyber

cyber/transport/dispatcher/intra_dispatcher.h

@@ -33,7 +33,7 @@ namespace cyber {
 namespace transport {
 
 class IntraDispatcher;
-using IntraDispatcherPtr = std::shared_ptr<IntraDispatcher>;
+using IntraDispatcherPtr = IntraDispatcher*;
 
 class IntraDispatcher : public Dispatcher {
  public:

cyber/transport/dispatcher/intra_dispatcher_test.cc

@@ -27,10 +27,6 @@ namespace apollo {
 namespace cyber {
 namespace transport {
 
-TEST(IntraDispatcherTest, constructor) {
-  auto dispatcher = IntraDispatcher::Instance();
-}
-
 TEST(IntraDispatcherTest, on_message) {
   auto dispatcher = IntraDispatcher::Instance();
 

cyber/transport/dispatcher/rtps_dispatcher.h

@@ -43,7 +43,7 @@ struct Subscriber {
 };
 
 class RtpsDispatcher;
-using RtpsDispatcherPtr = std::shared_ptr<RtpsDispatcher>;
+using RtpsDispatcherPtr = RtpsDispatcher*;
 
 class RtpsDispatcher : public Dispatcher {
  public:
@@ -82,8 +82,8 @@ template <typename MessageT>
 void RtpsDispatcher::AddListener(const RoleAttributes& self_attr,
                                  const MessageListener<MessageT>& listener) {
   auto listener_adapter = [listener](
-                              const std::shared_ptr<std::string>& msg_str,
-                              const MessageInfo& msg_info) {
+      const std::shared_ptr<std::string>& msg_str,
+      const MessageInfo& msg_info) {
     auto msg = std::make_shared<MessageT>();
     RETURN_IF(!message::ParseFromString(*msg_str, msg.get()));
     listener(msg, msg_info);
@@ -98,8 +98,8 @@ void RtpsDispatcher::AddListener(const RoleAttributes& self_attr,
                                  const RoleAttributes& opposite_attr,
                                  const MessageListener<MessageT>& listener) {
   auto listener_adapter = [listener](
-                              const std::shared_ptr<std::string>& msg_str,
-                              const MessageInfo& msg_info) {
+      const std::shared_ptr<std::string>& msg_str,
+      const MessageInfo& msg_info) {
     auto msg = std::make_shared<MessageT>();
     RETURN_IF(!message::ParseFromString(*msg_str, msg.get()));
     listener(msg, msg_info);

cyber/transport/dispatcher/rtps_dispatcher_test.cc

@@ -28,11 +28,6 @@ namespace apollo {
 namespace cyber {
 namespace transport {
 
-TEST(RtpsDispatcherTest, constructor) {
-  auto dispatcher = RtpsDispatcher::Instance();
-  //   EXPECT_EQ(dispatcher->NumberOfChannel(), 0);
-}
-
 TEST(RtpsDispatcherTest, add_listener) {
   auto dispatcher = RtpsDispatcher::Instance();
   RoleAttributes self_attr;

cyber/transport/dispatcher/shm_dispatcher.h

@@ -37,7 +37,7 @@ namespace cyber {
 namespace transport {
 
 class ShmDispatcher;
-using ShmDispatcherPtr = std::shared_ptr<ShmDispatcher>;
+using ShmDispatcherPtr = ShmDispatcher*;
 using apollo::cyber::base::AtomicRWLock;
 using apollo::cyber::base::ReadLockGuard;
 using apollo::cyber::base::WriteLockGuard;

cyber/transport/dispatcher/shm_dispatcher_test.cc

@@ -30,10 +30,6 @@ namespace apollo {
 namespace cyber {
 namespace transport {
 
-TEST(ShmDispatcherTest, constructor) {
-  auto dispatcher = ShmDispatcher::Instance();
-}
-
 TEST(ShmDispatcherTest, add_listener) {
   auto dispatcher = ShmDispatcher::Instance();
   RoleAttributes self_attr;

cyber/transport/shm/notifier_base.h

@@ -26,7 +26,7 @@ namespace cyber {
 namespace transport {
 
 class NotifierBase;
-using NotifierPtr = std::shared_ptr<NotifierBase>;
+using NotifierPtr = NotifierBase*;
 
 class NotifierBase {
  public:

modules/common/monitor_log/monitor_log_buffer.h

@@ -101,7 +101,7 @@ class MonitorLogBuffer {
   void Publish();
 
  private:
-  std::shared_ptr<MonitorLogger> logger_ = MonitorLogger::Instance();
+  MonitorLogger* logger_ = MonitorLogger::Instance();
   MonitorMessageItem::LogLevel level_ = MonitorMessageItem::INFO;
   std::vector<MessageItem> monitor_msg_items_;
   MonitorMessageItem::MessageSource source_;

modules/drivers/velodyne/compensator/compensator.h

@@ -66,7 +66,7 @@ class Compensator {
 
   bool IsValid(const Eigen::Vector3d& point);
 
-  std::shared_ptr<Buffer> tf2_buffer_ptr_ = transform::Buffer::Instance();
+  Buffer* tf2_buffer_ptr_ = transform::Buffer::Instance();
   CompensatorConfig config_;
 };
 

modules/drivers/velodyne/fusion/pri_sec_fusion_component.h

@@ -55,7 +55,7 @@ class PriSecFusionComponent : public Component<PointCloud> {
                         const Eigen::Affine3d& pose);
 
   FusionConfig conf_;
-  std::shared_ptr<apollo::transform::Buffer> buffer_ptr_;
+  apollo::transform::Buffer* buffer_ptr_ = nullptr;
   std::shared_ptr<Writer<PointCloud>> fusion_writer_;
   std::vector<std::shared_ptr<Reader<PointCloud>>> readers_;
 };

modules/monitor/hardware/gps_monitor.cc

@@ -43,7 +43,7 @@ GpsMonitor::GpsMonitor() : RecurrentRunner(FLAGS_gps_monitor_name,
 }
 
 void GpsMonitor::RunOnce(const double current_time) {
-  auto& manager = MonitorManager::Instance();
+  auto manager = MonitorManager::Instance();
   Component* component = apollo::common::util::FindOrNull(
       *manager->GetStatus()->mutable_components(), FLAGS_gps_component_name);
   if (component == nullptr) {

modules/monitor/hardware/resource_monitor.cc

@@ -47,7 +47,7 @@ ResourceMonitor::ResourceMonitor()
 }
 
 void ResourceMonitor::RunOnce(const double current_time) {
-  auto& manager = MonitorManager::Instance();
+  auto manager = MonitorManager::Instance();
   const auto& mode = manager->GetHMIMode();
   auto* components = manager->GetStatus()->mutable_components();
   for (const auto& iter : mode.monitored_components()) {

modules/monitor/hardware/socket_can_monitor.cc

@@ -101,7 +101,7 @@ SocketCanMonitor::SocketCanMonitor() :
 }
 
 void SocketCanMonitor::RunOnce(const double current_time) {
-  auto& manager = MonitorManager::Instance();
+  auto manager = MonitorManager::Instance();
   Component* component = apollo::common::util::FindOrNull(
       *manager->GetStatus()->mutable_components(),
       FLAGS_socket_can_component_name);

modules/monitor/software/channel_monitor.cc

@@ -49,7 +49,7 @@ using apollo::common::util::StrCat;
 // We have to specify exact type of each channel. This function is a wrapper for
 // those only need a ReaderBase.
 std::shared_ptr<cyber::ReaderBase> GetReader(const std::string& channel) {
-  auto& manager = MonitorManager::Instance();
+  auto manager = MonitorManager::Instance();
   if (channel == FLAGS_control_command_topic) {
     return manager->CreateReader<control::ControlCommand>(channel);
   } else if (channel == FLAGS_localization_topic) {
@@ -81,7 +81,7 @@ ChannelMonitor::ChannelMonitor()
 }
 
 void ChannelMonitor::RunOnce(const double current_time) {
-  auto& manager = MonitorManager::Instance();
+  auto manager = MonitorManager::Instance();
   const auto& mode = manager->GetHMIMode();
   auto* components = manager->GetStatus()->mutable_components();
   for (const auto& iter : mode.monitored_components()) {

modules/monitor/software/functional_safety_monitor.cc

@@ -77,7 +77,7 @@ void FunctionalSafetyMonitor::RunOnce(const double current_time) {
 
 bool FunctionalSafetyMonitor::CheckSafety() {
   // We only check safety in self driving mode.
-  auto& manager = MonitorManager::Instance();
+  auto manager = MonitorManager::Instance();
   if (!manager->IsInAutonomousMode()) {
     return true;
   }

modules/monitor/software/localization_monitor.cc

@@ -43,7 +43,7 @@ LocalizationMonitor::LocalizationMonitor()
                       FLAGS_localization_monitor_interval) {}
 
 void LocalizationMonitor::RunOnce(const double current_time) {
-  auto& manager = MonitorManager::Instance();
+  auto manager = MonitorManager::Instance();
   auto* component = apollo::common::util::FindOrNull(
       *manager->GetStatus()->mutable_components(),
       FLAGS_localization_component_name);

modules/monitor/software/process_monitor.cc

@@ -49,7 +49,7 @@ void ProcessMonitor::RunOnce(const double current_time) {
     }
   }
 
-  auto& manager = MonitorManager::Instance();
+  auto manager = MonitorManager::Instance();
   const auto& mode = manager->GetHMIMode();
 
   // Check HMI modules.

modules/monitor/software/summary_monitor.cc

@@ -51,7 +51,7 @@ SummaryMonitor::SummaryMonitor()
 }
 
 void SummaryMonitor::RunOnce(const double current_time) {
-  auto& manager = MonitorManager::Instance();
+  auto manager = MonitorManager::Instance();
   auto* status = manager->GetStatus();
   // Escalate the summary status to the most severe one.
   for (auto& component : *status->mutable_components()) {

modules/perception/lib/config_manager/config_manager_test.cc

@@ -40,7 +40,7 @@ class ConfigManagerTest : public testing::Test {
   }
 
  protected:
-  std::shared_ptr<ConfigManager> config_manager_;
+  ConfigManager* config_manager_;
 };
 
 TEST_F(ConfigManagerTest, TestInit) {

modules/perception/lidar/app/lidar_obstacle_segmentation.cc

@@ -29,7 +29,7 @@ namespace lidar {
 bool LidarObstacleSegmentation::Init(
     const LidarObstacleSegmentationInitOptions& options) {
   auto& sensor_name = options.sensor_name;
-  auto& config_manager = lib::ConfigManager::Instance();
+  auto config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
 

modules/perception/lidar/app/lidar_obstacle_tracking.cc

@@ -28,7 +28,7 @@ namespace lidar {
 bool LidarObstacleTracking::Init(
     const LidarObstacleTrackingInitOptions& options) {
   auto& sensor_name = options.sensor_name;
-  auto& config_manager = lib::ConfigManager::Instance();
+  auto config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
 

modules/perception/lidar/lib/classifier/fused_classifier/ccrf_type_fusion.cc

@@ -34,7 +34,7 @@ using apollo::common::util::GetAbsolutePath;
 using apollo::perception::base::ObjectType;
 
 bool CCRFOneShotTypeFusion::Init(const TypeFusionInitOption& option) {
-  auto& config_manager = lib::ConfigManager::Instance();
+  auto config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();
@@ -128,7 +128,7 @@ bool CCRFOneShotTypeFusion::FuseOneShotTypeProbs(const ObjectPtr& object,
 
 bool CCRFSequenceTypeFusion::Init(const TypeFusionInitOption& option) {
   CHECK(one_shot_fuser_.Init(option));
-  auto& config_manager = lib::ConfigManager::Instance();
+  auto config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();

modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier.cc

@@ -28,7 +28,7 @@ using apollo::common::util::GetAbsolutePath;
 using apollo::perception::base::ObjectType;
 
 bool FusedClassifier::Init(const ClassifierInitOptions& options) {
-  auto& config_manager = lib::ConfigManager::Instance();
+  auto config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();

modules/perception/lidar/lib/ground_detector/ground_service_detector/ground_service_detector.cc

@@ -28,7 +28,7 @@ namespace lidar {
 using apollo::common::util::GetAbsolutePath;
 
 bool GroundServiceDetector::Init(const GroundDetectorInitOptions& options) {
-  auto& config_manager = lib::ConfigManager::Instance();
+  auto config_manager = lib::ConfigManager::Instance();
 
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));

modules/perception/lidar/lib/ground_detector/spatio_temporal_ground_detector/spatio_temporal_ground_detector.cc

@@ -32,7 +32,7 @@ using apollo::common::util::GetProtoFromFile;
 bool SpatioTemporalGroundDetector::Init(
     const GroundDetectorInitOptions& options) {
   const lib::ModelConfig* model_config = nullptr;
-  auto& config_manager = lib::ConfigManager::Instance();
+  auto config_manager = lib::ConfigManager::Instance();
   CHECK(config_manager->GetModelConfig(
       "SpatioTemporalGroundDetector", &model_config))
       << "Failed to get model config: SpatioTemporalGroundDetector";

modules/perception/lidar/lib/map_manager/map_manager.cc

@@ -29,7 +29,7 @@ namespace lidar {
 using apollo::common::util::GetAbsolutePath;
 
 bool MapManager::Init(const MapManagerInitOptions& options) {
-  auto& config_manager = lib::ConfigManager::Instance();
+  auto config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();

modules/perception/lidar/lib/object_filter_bank/object_filter_bank.cc

@@ -27,7 +27,7 @@ namespace lidar {
 using apollo::common::util::GetAbsolutePath;
 
 bool ObjectFilterBank::Init(const ObjectFilterInitOptions& options) {
-  auto& config_manager = lib::ConfigManager::Instance();
+  auto config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();

modules/perception/lidar/lib/object_filter_bank/roi_boundary_filter/roi_boundary_filter.cc

@@ -29,7 +29,7 @@ using apollo::common::util::GetAbsolutePath;
 using apollo::perception::base::PointD;
 
 bool ROIBoundaryFilter::Init(const ObjectFilterInitOptions& options) {
-  auto& config_manager = lib::ConfigManager::Instance();
+  auto config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();

modules/perception/lidar/lib/pointcloud_preprocessor/pointcloud_preprocessor.cc

@@ -34,7 +34,7 @@ const float PointCloudPreprocessor::kPointInfThreshold = 1e3;
 
 bool PointCloudPreprocessor::Init(
     const PointCloudPreprocessorInitOptions& options) {
-  auto& config_manager = lib::ConfigManager::Instance();
+  auto config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();

modules/perception/lidar/lib/roi_filter/hdmap_roi_filter/hdmap_roi_filter.cc

@@ -39,7 +39,7 @@ using Polygon = typename PolygonScanCvter<T>::Polygon;
 
 bool HdmapROIFilter::Init(const ROIFilterInitOptions& options) {
   // load model config
-  auto& config_manager = lib::ConfigManager::Instance();
+  auto config_manager = lib::ConfigManager::Instance();
   const lib::ModelConfig* model_config = nullptr;
   CHECK(config_manager->GetModelConfig(Name(), &model_config));
   const std::string work_root = config_manager->work_root();