Fix polling manager thread shut down

email/src/context.cpp

@@ -41,7 +41,8 @@ Context::Context()
 
 Context::~Context()
 {
-  if (!is_valid()) {
+  logger_->debug("destroying");
+  if (is_valid()) {
     (void)shutdown();
   }
 }
@@ -60,6 +61,7 @@ Context::init()
   options_ = options.value();
 
   is_valid_ = true;
+  logger_->debug("initialized");
 }
 
 void
@@ -97,9 +99,11 @@ Context::shutdown()
   // Only call shutdown() if they have been init, otherwise they will get initialized
   if (is_receiver_init_) {
     get_receiver()->shutdown();
+    is_receiver_init_ = false;
   }
   if (is_polling_manager_init_) {
     get_polling_manager()->shutdown();
+    is_polling_manager_init_ = false;
   }
   logger_->debug("shut down");
   log::shutdown();

email/src/email/polling_manager.cpp

@@ -37,11 +37,14 @@ PollingManager::PollingManager(std::shared_ptr<EmailReceiver> receiver)
   handlers_mutex_(),
   handlers_(),
   logger_(log::create("PollingManager"))
-{}
+{
+  logger_->debug("initialized");
+}
 
 PollingManager::~PollingManager()
 {
   logger_->debug("destroying");
+  shutdown();
 }
 
 void
@@ -76,8 +79,11 @@ PollingManager::shutdown()
   receiver_->shutdown();
   if (has_started()) {
     do_shutdown_ = true;
-    thread_.join();
+    if (thread_.joinable()) {
+      thread_.join();
+    }
   }
+  has_started_ = false;
   logger_->debug("shut down");
 }
 

email/src/log.cpp

@@ -144,6 +144,7 @@ init(const Level & level)
   root_logger = std::make_shared<spdlog::logger>("root", sinks.begin(), sinks.end());
   root_logger->set_level(spdlog::level::debug);
   spdlog::register_logger(root_logger);
+  root_logger->flush_on(spdlog::level::warn);
   root_logger->debug("logging to file: {}", log_to_file ? "true" : "false");
   root_logger->debug("logging level set to: {}", level_to_string(level));
 
@@ -205,6 +206,7 @@ shutdown()
   root_logger->debug("shutting down");
   spdlog::drop_all();
   spdlog::shutdown();
+  root_logger->flush();
   root_logger = nullptr;
   sink_console = nullptr;
   is_logging_initialized = false;

rmw_email_cpp/include/rmw_email_cpp/types.hpp

@@ -38,23 +38,10 @@ struct rmw_context_impl_t
 
   bool is_shutdown{false};
 
-  rmw_context_impl_t()
-  {}
+  rmw_context_impl_t();
 
   /// Context destruction, called when deleting this.
-  ~rmw_context_impl_t()
-  {
-    // Shutdown middleware
-    email::shutdown();
-
-    // Make sure we didn't get destroyed while there's still a node
-    if (0u != this->node_count) {
-      RCUTILS_SAFE_FWRITE_TO_STDERR(
-        "Not all nodes were finished before finishing the context\n."
-        "Ensure `rmw_destroy_node` is called for all nodes before `rmw_context_fini`,"
-        "to avoid leaking.\n");
-    }
-  }
+  ~rmw_context_impl_t();
 
   /// Called whenever a new node is created.
   rmw_ret_t

rmw_email_cpp/src/rmw_init.cpp

@@ -24,6 +24,7 @@
 
 #include "rmw_email_cpp/guard_condition.hpp"
 #include "rmw_email_cpp/identifier.hpp"
+#include "rmw_email_cpp/log.hpp"
 #include "rmw_email_cpp/types.hpp"
 
 extern "C" rmw_ret_t rmw_init_options_init(
@@ -102,6 +103,26 @@ extern "C" rmw_ret_t rmw_init_options_fini(rmw_init_options_t * init_options)
   return ret;
 }
 
+rmw_context_impl_t::rmw_context_impl_t()
+{
+  RMW_EMAIL_LOG_DEBUG("initializing context implementation");
+}
+
+rmw_context_impl_t::~rmw_context_impl_t()
+{
+  RMW_EMAIL_LOG_DEBUG("shutting down context implementation");
+  // Shutdown middleware
+  email::shutdown();
+
+  // Make sure we didn't get destroyed while there's still a node
+  if (0u != this->node_count) {
+    RCUTILS_SAFE_FWRITE_TO_STDERR(
+      "Not all nodes were finished before finishing the context\n."
+      "Ensure `rmw_destroy_node` is called for all nodes before `rmw_context_fini`,"
+      "to avoid leaking.\n");
+  }
+}
+
 rmw_ret_t
 rmw_context_impl_t::init(rmw_init_options_t * options, size_t domain_id)
 {