logger_detail.hpp

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// Internal implementation detail of logger.cpp, split out into its own
// non-installed header purely so test_logger.cpp can test it directly
// without exposing it through the public moveit/utils/logger.hpp API.
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <memory>
#include <mutex>
 
namespace moveit
{
namespace detail
{

inline std::shared_ptr<std::mutex> registerNodeResetOnPreShutdown(rclcpp::Node::SharedPtr& node)
{
  auto mutex = std::make_shared<std::mutex>();
  std::weak_ptr<std::mutex> weak_mutex = mutex;
  node->get_node_base_interface()->get_context()->add_pre_shutdown_callback([weak_mutex, &node] {
    std::shared_ptr<std::mutex> locked = weak_mutex.lock();
    if (!locked)
    {
      return;
    }
    std::lock_guard<std::mutex> lock(*locked);
    // Drop the reference so ~rclcpp::Node runs now, while the RMW context is
    // still alive, instead of racing against it at static destruction time.
    node.reset();
  });
  return mutex;
}
 
}  // namespace detail
}  // namespace moveit