Refactor threads to use Weak references for graceful termination

- Replaced strong Arc clones with Weak references in thread spawns
- Ensured threads terminate when the associated Arc is dropped

Author: Abdelrahmanosama372

examples/turtlesim_rs/src/turtle_frame.rs

@@ -161,10 +161,14 @@ impl<'a> TurtleFrame<'a> {
             )
             .unwrap();
 
-        let nh_clone = Arc::clone(&nh);
+        let nh_weak = Arc::downgrade(&nh);
         thread::spawn(move || loop {
             std::thread::sleep(time::Duration::from_millis(UPDATE_INTERVAL_MS / 2));
-            let _v = rclrs::spin_once(nh_clone.clone(), Some(time::Duration::ZERO));
+            if let Some(nh_clone) = nh_weak.upgrade() {
+                let _ = rclrs::spin_once(nh_clone, Some(time::Duration::ZERO));
+            } else {
+                break;
+            }
         });
 
         TurtleFrame {

examples/turtlesim_rs/src/turtlesim.rs

@@ -41,12 +41,17 @@ impl MyEguiApp {
 
         let turtle_frame = Arc::new(Mutex::new(turtle_frame));
 
-        let turtle_frame_clone = Arc::clone(&turtle_frame);
+        let turtle_frame_weak = Arc::downgrade(&turtle_frame);
+
         thread::spawn(move || loop {
             std::thread::sleep(time::Duration::from_millis(UPDATE_INTERVAL_MS));
-            let mut frame = turtle_frame_clone.lock().unwrap();
-            frame.update_turtles();
-            frame.handle_service_requests();
+            if let Some(turtle_frame_clone) = turtle_frame_weak.upgrade() {
+                let mut frame = turtle_frame_clone.lock().unwrap();
+                frame.update_turtles();
+                frame.handle_service_requests();
+            } else {
+                break;
+            }
         });
 
         MyEguiApp { turtle_frame }