add test cases for logging and rosout

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

rcl/test/CMakeLists.txt

@@ -206,6 +206,14 @@ function(test_target_function)
     AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp"
   )
 
+  rcl_add_custom_gtest(test_logging_rosout${target_suffix}
+    SRCS rcl/test_logging_rosout.cpp
+    ENV ${rmw_implementation_env_var}
+    APPEND_LIBRARY_DIRS ${extra_lib_dirs}
+    LIBRARIES ${PROJECT_NAME}
+    AMENT_DEPENDENCIES ${rmw_implementation} "osrf_testing_tools_cpp" "rcl_interfaces"
+  )
+
   rcl_add_custom_gtest(test_namespace${target_suffix}
     SRCS test_namespace.cpp
     ENV ${rmw_implementation_env_var}

rcl/test/rcl/test_logging_rosout.cpp

@@ -0,0 +1,189 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <chrono>
+#include <string>
+#include <thread>
+
+#include "rcl/subscription.h"
+
+#include "rcl/rcl.h"
+
+#include "rcl_interfaces/msg/log.h"
+
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
+#include "rcl/error_handling.h"
+#include "rcutils/logging_macros.h"
+
+#ifdef RMW_IMPLEMENTATION
+# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
+# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
+#else
+# define CLASSNAME(NAME, SUFFIX) NAME
+#endif
+
+class CLASSNAME (TestLoggingRosoutFixture, RMW_IMPLEMENTATION) : public ::testing::Test
+{
+public:
+  rcl_context_t * context_ptr;
+  rcl_node_t * node_ptr;
+  rcl_subscription_t * subscription_ptr;
+  void SetUp(int argc, const char* argv[], bool enable_node_option_rosout)
+  {
+    rcl_ret_t ret;
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+      EXPECT_EQ(RCL_RET_OK, rcl_init_options_fini(&init_options)) << rcl_get_error_string().str;
+    });
+    this->context_ptr = new rcl_context_t;
+    *this->context_ptr = rcl_get_zero_initialized_context();
+
+    ret = rcl_init(argc, argv, &init_options, this->context_ptr);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+    // create node
+    rcl_node_options_t node_options = rcl_node_get_default_options();
+    if (!enable_node_option_rosout) {
+      node_options.enable_rosout = enable_node_option_rosout;
+    }
+    const char * name = "test_rcl_node_logging_rosout";
+    const char * namespace_ = "/ns";
+    this->node_ptr = new rcl_node_t;
+    *this->node_ptr = rcl_get_zero_initialized_node();
+    ret = rcl_node_init(this->node_ptr, name, namespace_, this->context_ptr, &node_options);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+
+    // create rosout subscription
+    const rosidl_message_type_support_t * ts =
+      ROSIDL_GET_MSG_TYPE_SUPPORT(rcl_interfaces, msg, Log);
+    const char * topic = "rosout";
+    this->subscription_ptr = new rcl_subscription_t;
+    *this->subscription_ptr = rcl_get_zero_initialized_subscription();
+    rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
+    ret = rcl_subscription_init(this->subscription_ptr, this->node_ptr, ts, topic, &subscription_options);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+
+  void TearDown()
+  {
+    rcl_ret_t ret = rcl_subscription_fini(this->subscription_ptr, this->node_ptr);
+    delete this->subscription_ptr;
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_node_fini(this->node_ptr);
+    delete this->node_ptr;
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_shutdown(this->context_ptr);
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_context_fini(this->context_ptr);
+    delete this->context_ptr;
+    EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  }
+};
+
+void
+wait_for_subscription_to_be_ready(
+  rcl_subscription_t * subscription,
+  rcl_context_t * context,
+  size_t max_tries,
+  int64_t period_ms,
+  bool & success)
+{
+  rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
+  rcl_ret_t ret =
+    rcl_wait_set_init(&wait_set, 1, 0, 0, 0, 0, 0, context, rcl_get_default_allocator());
+  ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
+    rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+  });
+  size_t iteration = 0;
+  do {
+    ++iteration;
+    ret = rcl_wait_set_clear(&wait_set);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_wait_set_add_subscription(&wait_set, subscription, NULL);
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms));
+    if (ret == RCL_RET_TIMEOUT) {
+      continue;
+    }
+    ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    for (size_t i = 0; i < wait_set.size_of_subscriptions; ++i) {
+      if (wait_set.subscriptions[i] && wait_set.subscriptions[i] == subscription) {
+        success = true;
+        return;
+      }
+    }
+  } while (iteration < max_tries);
+  success = false;
+}
+
+/* Basic nominal test of having rosout logging globally enabled and locally enabled in a node
+ */
+TEST_F(CLASSNAME(TestLoggingRosoutFixture, RMW_IMPLEMENTATION), test_enable_global_rosout_enable_nodeoption) {
+  SetUp(0, nullptr, true);
+
+  // log
+  RCUTILS_LOG_INFO_NAMED(rcl_node_get_logger_name(this->node_ptr), "SOMETHING");
+
+  bool success;
+  wait_for_subscription_to_be_ready(this->subscription_ptr, this->context_ptr, 10, 100, success);
+  ASSERT_TRUE(success);
+}
+
+
+/* Basic nominal test of having rosout logging globally enabled and locally disabled in a node
+ */
+TEST_F(CLASSNAME(TestLoggingRosoutFixture, RMW_IMPLEMENTATION), test_enable_global_rosout_disable_nodeoption) {
+  SetUp(0, nullptr, false);
+
+  // log
+  RCUTILS_LOG_INFO_NAMED(rcl_node_get_logger_name(this->node_ptr), "SOMETHING");
+
+  bool success;
+  wait_for_subscription_to_be_ready(this->subscription_ptr, this->context_ptr, 10, 100, success);
+  ASSERT_FALSE(success);
+}
+
+/* Basic nominal test of having rosout logging globally disabled and locally enabled in a node
+ */
+TEST_F(CLASSNAME(TestLoggingRosoutFixture, RMW_IMPLEMENTATION), test_disable_global_rosout_enable_nodeoption) {
+  const char* argv[] = {"--ros-args", "--disable-rosout-logs"};
+  SetUp(2, argv, true);
+
+  // log
+  RCUTILS_LOG_INFO_NAMED(rcl_node_get_logger_name(this->node_ptr), "SOMETHING");
+
+  bool success;
+  wait_for_subscription_to_be_ready(this->subscription_ptr, this->context_ptr, 10, 100, success);
+  ASSERT_FALSE(success);
+}
+
+/* Basic nominal test of having rosout logging globally disabled and locally disabled in a node
+ */
+TEST_F(CLASSNAME(TestLoggingRosoutFixture, RMW_IMPLEMENTATION), test_disable_global_rosout_disable_nodeoption) {
+  const char* argv[] = {"--ros-args", "--disable-rosout-logs"};
+  SetUp(2, argv, false);
+
+  // log
+  RCUTILS_LOG_INFO_NAMED(rcl_node_get_logger_name(this->node_ptr), "SOMETHING");
+
+  bool success;
+  wait_for_subscription_to_be_ready(this->subscription_ptr, this->context_ptr, 10, 100, success);
+  ASSERT_FALSE(success);
+}