From ad226136bd1675f886dcbc618044714c2edc8871 Mon Sep 17 00:00:00 2001
From: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
Date: Wed, 18 Aug 2021 11:06:27 -0300
Subject: [PATCH] Call Context._logging_fini() in Context.try_shutdown() (#800)

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
---
 rclpy/rclpy/context.py | 41 ++++++++++++++++++++---------------------
 1 file changed, 20 insertions(+), 21 deletions(-)

diff --git a/rclpy/rclpy/context.py b/rclpy/rclpy/context.py
index 39c195c93..4794af154 100644
--- a/rclpy/rclpy/context.py
+++ b/rclpy/rclpy/context.py
@@ -36,7 +36,6 @@ class Context:
     def __init__(self):
         self._lock = threading.Lock()
         self._callbacks = []
-        self._callbacks_lock = threading.Lock()
         self._logging_initialized = False
         self.__context = None
 
@@ -89,12 +88,11 @@ def ok(self):
                 return self.__context.ok()
 
     def _call_on_shutdown_callbacks(self):
-        with self._callbacks_lock:
-            for weak_method in self._callbacks:
-                callback = weak_method()
-                if callback is not None:
-                    callback()
-            self._callbacks = []
+        for weak_method in self._callbacks:
+            callback = weak_method()
+            if callback is not None:
+                callback()
+        self._callbacks = []
 
     def shutdown(self):
         """Shutdown this context."""
@@ -102,8 +100,8 @@ def shutdown(self):
             raise RuntimeError('Context must be initialized before it can be shutdown')
         with self.__context, self._lock:
             self.__context.shutdown()
-        self._call_on_shutdown_callbacks()
-        self._logging_fini()
+            self._call_on_shutdown_callbacks()
+            self._logging_fini()
 
     def try_shutdown(self):
         """Shutdown this context, if not already shutdown."""
@@ -113,6 +111,7 @@ def try_shutdown(self):
             if self.__context.ok():
                 self.__context.shutdown()
                 self._call_on_shutdown_callbacks()
+                self._logging_fini()
 
     def _remove_callback(self, weak_method):
         self._callbacks.remove(weak_method)
@@ -121,25 +120,25 @@ def on_shutdown(self, callback: Callable[[], None]):
         """Add a callback to be called on shutdown."""
         if not callable(callback):
             raise TypeError('callback should be a callable, got {}', type(callback))
-        with self._callbacks_lock:
-            if not self.ok():
+        with self.__context, self._lock:
+            if not self.__context.ok():
                 callback()
             else:
                 self._callbacks.append(weakref.WeakMethod(callback, self._remove_callback))
 
     def _logging_fini(self):
+        # This function must be called with self._lock held.
         from rclpy.impl.implementation_singleton import rclpy_implementation
         global g_logging_ref_count
-        with self._lock:
-            if self._logging_initialized:
-                with g_logging_configure_lock:
-                    g_logging_ref_count -= 1
-                    if g_logging_ref_count == 0:
-                        rclpy_implementation.rclpy_logging_fini()
-                    if g_logging_ref_count < 0:
-                        raise RuntimeError(
-                            'Unexpected error: logger ref count should never be lower that zero')
-                self._logging_initialized = False
+        if self._logging_initialized:
+            with g_logging_configure_lock:
+                g_logging_ref_count -= 1
+                if g_logging_ref_count == 0:
+                    rclpy_implementation.rclpy_logging_fini()
+                if g_logging_ref_count < 0:
+                    raise RuntimeError(
+                        'Unexpected error: logger ref count should never be lower that zero')
+            self._logging_initialized = False
 
     def get_domain_id(self):
         """Get domain id of context."""