Use user thread to run logger service

Signed-off-by: Barry Xu <barry.xu@sony.com>

rclcpp/CMakeLists.txt

@@ -73,7 +73,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/message_info.cpp
   src/rclcpp/network_flow_endpoint.cpp
   src/rclcpp/node.cpp
-  src/rclcpp/node_builtin_executor.cpp
   src/rclcpp/node_interfaces/node_base.cpp
   src/rclcpp/node_interfaces/node_clock.cpp
   src/rclcpp/node_interfaces/node_graph.cpp

rclcpp/include/rclcpp/node.hpp

@@ -47,7 +47,6 @@
 #include "rclcpp/logger.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/message_memory_strategy.hpp"
-#include "rclcpp/node_builtin_executor.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_clock_interface.hpp"
 #include "rclcpp/node_interfaces/node_graph_interface.hpp"
@@ -1589,8 +1588,6 @@ class Node : public std::enable_shared_from_this<Node>
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr node_time_source_;
   rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;
 
-  rclcpp::NodeBuiltinExecutor::UniquePtr node_builtin_executor_;
-
   const rclcpp::NodeOptions node_options_;
   const std::string sub_namespace_;
   const std::string effective_namespace_;

rclcpp/include/rclcpp/node_interfaces/node_logging.hpp

@@ -23,6 +23,9 @@
 #include "rclcpp/node_interfaces/node_logging_interface.hpp"
 #include "rclcpp/visibility_control.hpp"
 
+#include "rcl_interfaces/srv/get_logger_levels.hpp"
+#include "rcl_interfaces/srv/set_logger_levels.hpp"
+
 namespace rclcpp
 {
 namespace node_interfaces
@@ -35,7 +38,7 @@ class NodeLogging : public NodeLoggingInterface
   RCLCPP_SMART_PTR_ALIASES_ONLY(NodeLoggingInterface)
 
   RCLCPP_PUBLIC
-  explicit NodeLogging(rclcpp::node_interfaces::NodeBaseInterface * node_base);
+  explicit NodeLogging(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base);
 
   RCLCPP_PUBLIC
   virtual
@@ -49,13 +52,21 @@ class NodeLogging : public NodeLoggingInterface
   const char *
   get_logger_name() const override;
 
+  RCLCPP_PUBLIC
+  void
+  create_logger_services(
+    node_interfaces::NodeServicesInterface::SharedPtr node_services) override;
+
 private:
   RCLCPP_DISABLE_COPY(NodeLogging)
 
   /// Handle to the NodeBaseInterface given in the constructor.
-  rclcpp::node_interfaces::NodeBaseInterface * node_base_;
+  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_;
 
   rclcpp::Logger logger_;
+
+  rclcpp::Service<rcl_interfaces::srv::GetLoggerLevels>::SharedPtr get_loggers_service_;
+  rclcpp::Service<rcl_interfaces::srv::SetLoggerLevels>::SharedPtr set_loggers_service_;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_logging_interface.hpp

@@ -19,6 +19,7 @@
 
 #include "rclcpp/logger.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_services_interface.hpp"
 #include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -54,6 +55,13 @@ class NodeLoggingInterface
   virtual
   const char *
   get_logger_name() const = 0;
+
+  /// create logger services
+  RCLCPP_PUBLIC
+  virtual
+  void
+  create_logger_services(
+    node_interfaces::NodeServicesInterface::SharedPtr node_services) = 0;
 };
 
 }  // namespace node_interfaces

rclcpp/src/rclcpp/node.cpp

@@ -27,7 +27,6 @@
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/graph_listener.hpp"
 #include "rclcpp/node.hpp"
-#include "rclcpp/node_builtin_executor.hpp"
 #include "rclcpp/node_interfaces/node_base.hpp"
 #include "rclcpp/node_interfaces/node_clock.hpp"
 #include "rclcpp/node_interfaces/node_graph.hpp"
@@ -168,7 +167,7 @@ Node::Node(
       options.use_intra_process_comms(),
       options.enable_topic_statistics())),
   node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
-  node_logging_(new rclcpp::node_interfaces::NodeLogging(node_base_.get())),
+  node_logging_(new rclcpp::node_interfaces::NodeLogging(node_base_)),
   node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),
   node_topics_(new rclcpp::node_interfaces::NodeTopics(node_base_.get(), node_timers_.get())),
   node_services_(new rclcpp::node_interfaces::NodeServices(node_base_.get())),
@@ -208,12 +207,6 @@ Node::Node(
       options.use_clock_thread()
     )),
   node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
-  node_builtin_executor_(new rclcpp::NodeBuiltinExecutor(
-      node_base_,
-      node_topics_,
-      node_services_,
-      options
-    )),
   node_options_(options),
   sub_namespace_(""),
   effective_namespace_(create_effective_namespace(this->get_namespace(), sub_namespace_))
@@ -232,6 +225,10 @@ Node::Node(
     node_topics_->resolve_topic_name("/parameter_events"),
     options.parameter_event_qos(),
     rclcpp::detail::PublisherQosParametersTraits{});
+
+  if (options.enable_logger_service()) {
+    node_logging_->create_logger_services(node_services_);
+  }
 }
 
 Node::Node(
@@ -275,7 +272,6 @@ Node::Node(
 Node::~Node()
 {
   // release sub-interfaces in an order that allows them to consult with node_base during tear-down
-  node_builtin_executor_.reset();
   node_waitables_.reset();
   node_time_source_.reset();
   node_parameters_.reset();