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Register atexit handler to clear GlobalModel.

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PiperOrigin-RevId: 933624252
Change-Id: Ib214514ac5390137dbf1034d113ff8aa9e9cdeb1
This commit is contained in:
Yuval Tassa
2026-06-17 03:43:28 -07:00
committed by Copybara-Service
parent 410c73168c
commit cffb077c4b
1 changed files with 9 additions and 0 deletions
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src/xml/xml_global.cc
+9
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@@ -14,9 +14,11 @@
#include "xml/xml_global.h" #include "xml/xml_global.h"
#include <cstdlib>
#include <mutex> #include <mutex>
#include <string> #include <string>
#include <type_traits> #include <type_traits>
#include <mujoco/mujoco.h> #include <mujoco/mujoco.h>
#include "xml/xml.h" #include "xml/xml.h"
#include "xml/xml_util.h" #include "xml/xml_util.h"
@@ -48,7 +50,14 @@ std::string GlobalModel::ToXML(const mjModel* m, char* error,
return WriteXML(m, spec_, error, error_sz); return WriteXML(m, spec_, error, error_sz);
} }
GlobalModel& GetGlobalModel();
void GlobalModel::Set(mjSpec* spec) { void GlobalModel::Set(mjSpec* spec) {
static std::once_flag atexit_once;
std::call_once(atexit_once, []() {
std::atexit([]() { GetGlobalModel().Set(nullptr); });
});
std::lock_guard<std::mutex> lock(*mutex_); std::lock_guard<std::mutex> lock(*mutex_);
if (spec_ != nullptr) { if (spec_ != nullptr) {
mj_deleteSpec(spec_); mj_deleteSpec(spec_);