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Decouple rosout publisher init from node init. #2174

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merged 4 commits into from
Sep 22, 2023
Merged

Decouple rosout publisher init from node init. #2174

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405dc34
Decouple rosout publisher init from node init.
fujitatomoya Apr 27, 2023
228e5a6
add logging_rosout header file.
fujitatomoya Jun 16, 2023
504f38d
Decouple rosout publisher fini from node fini.
fujitatomoya Sep 11, 2023
9572236
address review comments.
fujitatomoya Sep 20, 2023
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45 changes: 29 additions & 16 deletions rclcpp/src/rclcpp/node_interfaces/node_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,8 @@

#include "rcl/arguments.h"
#include "rcl/node_type_cache.h"
#include "rcl/logging.h"
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#include "rcl/logging_rosout.h"
#include "rclcpp/exceptions.hpp"
#include "rcutils/logging_macros.h"
#include "rmw/validate_namespace.h"
Expand Down Expand Up @@ -55,17 +57,12 @@ NodeBase::NodeBase(
std::shared_ptr<std::recursive_mutex> logging_mutex = get_global_logging_mutex();

rcl_ret_t ret;
{
std::lock_guard<std::recursive_mutex> guard(*logging_mutex);
// TODO(ivanpauno): /rosout Qos should be reconfigurable.
// TODO(ivanpauno): Instead of mutually excluding rcl_node_init with the global logger mutex,
// rcl_logging_rosout_init_publisher_for_node could be decoupled from there and be called
// here directly.
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ret = rcl_node_init(
rcl_node.get(),
node_name.c_str(), namespace_.c_str(),
context_->get_rcl_context().get(), &rcl_node_options);
}

// TODO(ivanpauno): /rosout Qos should be reconfigurable.
ret = rcl_node_init(
rcl_node.get(),
node_name.c_str(), namespace_.c_str(),
context_->get_rcl_context().get(), &rcl_node_options);
if (ret != RCL_RET_OK) {
if (ret == RCL_RET_NODE_INVALID_NAME) {
rcl_reset_error(); // discard rcl_node_init error
Expand Down Expand Up @@ -115,13 +112,29 @@ NodeBase::NodeBase(
throw_from_rcl_error(ret, "failed to initialize rcl node");
}

// The initialization for the rosout publisher
if (rcl_logging_rosout_enabled() && rcl_node_options.enable_rosout) {
std::lock_guard<std::recursive_mutex> guard(*logging_mutex);
ret = rcl_logging_rosout_init_publisher_for_node(rcl_node.get());
if (ret != RCL_RET_OK) {
throw_from_rcl_error(ret, "failed to initialize rosout publisher");
}
}

node_handle_.reset(
rcl_node.release(),
[logging_mutex](rcl_node_t * node) -> void {
std::lock_guard<std::recursive_mutex> guard(*logging_mutex);
// TODO(ivanpauno): Instead of mutually excluding rcl_node_fini with the global logger mutex,
// rcl_logging_rosout_fini_publisher_for_node could be decoupled from there and be called
// here directly.
[logging_mutex, rcl_node_options](rcl_node_t * node) -> void {
{
std::lock_guard<std::recursive_mutex> guard(*logging_mutex);
if (rcl_logging_rosout_enabled() && rcl_node_options.enable_rosout) {
rcl_ret_t ret = rcl_logging_rosout_fini_publisher_for_node(node);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
"Error in destruction of rosout publisher: %s", rcl_get_error_string().str);
}
}
}
if (rcl_node_fini(node) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
Expand Down