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Implement thread-safe logging. #427

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Implement thread-safe logging. #427

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Commits on Sep 13, 2023

  1. Implement thread-safe logging. 

    This commit introduces thread-safe logging to rcutils.
In particular, what it does is to add in a read-write lock
around accesses to the g_rcutils_logging_severities_map
in logging.c.

This enables two things:
1. Thread-safe writes to the hash map so that get_logger_level
and set_logger_level can be called simultaneously on two
different threads.
2. The ability to cache lookups during get_logger_effective_level,
so we have to do less parsing on every log call.

This introduces the concept of locking into rcutils, which
we haven't had before.  However, this particular use seems to
be justified, since the logging subsystem can be called outside
of the client libraries that could possibly do this locking
at a higher level (think about the rmw implementations, for
instance).

Note that this introduces a new pthread dependency within
rcutils that we've not had before.

Signed-off-by: Chris Lalancette <[email protected]>
    @clalancette
    clalancette committed Sep 13, 2023
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  2. Split up compilation of rwlock to separate files. 

    It is much easier to follow this way.

Signed-off-by: Chris Lalancette <[email protected]>
    @clalancette
    clalancette committed Sep 13, 2023
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