Mrntt: Call shutdownSalmanoff after exiting main loop

We moved initializeSalmanoff and shutdownSalmanoff into
salmanoff.cpp. Now we also invoke shutdownSalmanoff when exiting
to destroy subsystems and components gracefully.

This fixes the segfault that was thrown on every program exit
when xcbWindow had captured a window.

smocore/include/marionette/marionette.h

@@ -28,8 +28,6 @@ struct CrtCommandLineArgs
     static void set(int argc, char *argv[], char *envp[]);
 };
 
-void initializeSalmanoff(void);
-
 } // namespace smo
 
 #endif // _MARIONETTE_H

smocore/include/salmanoff.h

@@ -0,0 +1,11 @@
+#ifndef _SALMANOFF_H
+#define _SALMANOFF_H
+
+namespace smo {
+
+void initializeSalmanoff(void);
+void shutdownSalmanoff(void);
+
+} // namespace smo
+
+#endif // _SALMANOFF_H

smocore/marionette/marionette.cpp

@@ -6,6 +6,7 @@
 #include <mind.h>
 #include <componentThread.h>
 #include <marionette/marionette.h>
+#include <salmanoff.h>
 
 namespace smo {
 
@@ -104,6 +105,7 @@ void ComponentThread::marionetteMain(ComponentThread& self)
         }
 
         std::cout << __func__ << ": Exited event loop" << "\n";
+		shutdownSalmanoff();
 	}
 	catch (const std::exception& e)
 	{
@@ -122,5 +124,4 @@ void ComponentThread::marionetteMain(ComponentThread& self)
 	std::cout << __func__ << ": Exiting normally" << std::endl;
 }
 
-
 } // namespace smo

smocore/marionette/salmanoff.cpp

@@ -23,4 +23,14 @@ std::cerr << "Done attachAllSenseDevicesFromSpecs" << std::endl;
 	std::cout << __func__ << ": Done." << std::endl;
 }
 
+void shutdownSalmanoff(void)
+{
+	std::cout << __func__ << ": Entered." << std::endl;
+
+	sense_api::SenseApiManager::getInstance().detachAllSenseDevices();
+	sense_api::SenseApiManager::getInstance().finalizeAllSenseApiLibs();
+
+	std::cout << __func__ << ": Done." << std::endl;
+}
+
 } // namespace smo