Remove global logging mutex

rclpy/CMakeLists.txt

@@ -154,9 +154,6 @@ install(TARGETS rclpy_common
 # Main extension with bulk of the code
 pybind11_add_module(_rclpy SHARED
   src/rclpy/_rclpy.c
-  src/rclpy/detail/execute_with_logging_mutex.cpp
-  src/rclpy/detail/logging_mutex.cpp
-  src/rclpy/detail/thread_safe_logging_output_handler.cpp
 )
 target_link_libraries(_rclpy PRIVATE
   rclpy_common

rclpy/src/rclpy/_rclpy.c

@@ -45,8 +45,6 @@
 #include <rmw/validate_node_name.h>
 #include <rosidl_runtime_c/message_type_support_struct.h>
 
-#include "./detail/thread_safe_logging_output_handler.h"
-#include "./detail/execute_with_logging_mutex.h"
 #include "rclpy_common/common.h"
 #include "rclpy_common/handle.h"
 
@@ -529,7 +527,7 @@ rclpy_init(PyObject * module, PyObject * args)
  * Raises RuntimeError if rcl logging could not be initialized
  */
 static PyObject *
-rclpy_logging_configure_impl(PyObject * module, PyObject * args)
+rclpy_logging_configure(PyObject * module, PyObject * args)
 {
   rclpy_module_state_t * module_state = (rclpy_module_state_t *)PyModule_GetState(module);
   if (!module_state) {
@@ -547,10 +545,8 @@ rclpy_logging_configure_impl(PyObject * module, PyObject * args)
     return NULL;
   }
   rcl_allocator_t allocator = rcl_get_default_allocator();
-  rcl_ret_t ret = rcl_logging_configure_with_output_handler(
-    &context->global_arguments,
-    &allocator,
-    rclpy_detail_thread_safe_logging_output_handler);
+  rcl_ret_t ret = rcl_logging_configure(
+    &context->global_arguments, &allocator);
   if (RCL_RET_OK != ret) {
     PyErr_Format(
       module_state->RCLError,
@@ -561,19 +557,12 @@ rclpy_logging_configure_impl(PyObject * module, PyObject * args)
   Py_RETURN_NONE;
 }
 
-/// See rclpy_logging_configure_impl above.
-static PyObject *
-rclpy_logging_configure(PyObject * self, PyObject * args)
-{
-  return rclpy_detail_execute_with_logging_mutex(rclpy_logging_configure_impl, self, args);
-}
-
 /// Finalize rcl logging
 /**
  * Produces a RuntimeWarning if rcl logging could not be finalized
  */
 static PyObject *
-rclpy_logging_fini_impl(PyObject * Py_UNUSED(self), PyObject * Py_UNUSED(args))
+rclpy_logging_fini(PyObject * Py_UNUSED(self), PyObject * Py_UNUSED(args))
 {
   rcl_ret_t ret = rcl_logging_fini();
   if (RCL_RET_OK != ret) {
@@ -589,16 +578,9 @@ rclpy_logging_fini_impl(PyObject * Py_UNUSED(self), PyObject * Py_UNUSED(args))
   Py_RETURN_NONE;
 }
 
-/// See rclpy_logging_fini_impl above.
-static PyObject *
-rclpy_logging_fini(PyObject * self, PyObject * args)
-{
-  return rclpy_detail_execute_with_logging_mutex(rclpy_logging_fini_impl, self, args);
-}
-
 /// Handle destructor for node
 static void
-_rclpy_destroy_node_impl(void * p)
+_rclpy_destroy_node(void * p)
 {
   rcl_node_t * node = p;
   if (!node) {
@@ -620,13 +602,6 @@ _rclpy_destroy_node_impl(void * p)
   PyMem_Free(node);
 }
 
-/// See _rclpy_destroy_node_impl above.
-static void
-_rclpy_destroy_node(void * p)
-{
-  rclpy_detail_execute_with_logging_mutex2(_rclpy_destroy_node_impl, p);
-}
-
 /// Create a node
 /**
  * Raises ValueError if the node name or namespace is invalid
@@ -639,7 +614,7 @@ _rclpy_destroy_node(void * p)
  * \return NULL on failure
  */
 static PyObject *
-rclpy_create_node_impl(PyObject * module, PyObject * args)
+rclpy_create_node(PyObject * module, PyObject * args)
 {
   rcl_ret_t ret;
   const char * node_name;
@@ -752,13 +727,6 @@ rclpy_create_node_impl(PyObject * module, PyObject * args)
   return node_capsule;
 }
 
-/// See rclpy_create_node_impl above.
-static PyObject *
-rclpy_create_node(PyObject * self, PyObject * args)
-{
-  return rclpy_detail_execute_with_logging_mutex(rclpy_create_node_impl, self, args);
-}
-
 /// Get the name of a node.
 /**
  * Raises ValueError if pynode is not a node capsule