Added rmw_logging tests (#442)

* Added rmw_logging tests

Signed-off-by: ahcorde <ahcorde@gmail.com>

* Added feedback

Signed-off-by: ahcorde <ahcorde@gmail.com>

* Added feedback

Signed-off-by: ahcorde <ahcorde@gmail.com>

rmw_fastrtps_cpp/CMakeLists.txt

@@ -145,6 +145,10 @@ if(BUILD_TESTING)
     osrf_testing_tools_cpp rcutils rmw test_msgs
   )
   target_link_libraries(test_get_native_entities rmw_fastrtps_cpp)
+
+  ament_add_gtest(test_logging test/test_logging.cpp)
+  ament_target_dependencies(test_logging rmw)
+  target_link_libraries(test_logging rmw_fastrtps_cpp)
 endif()
 
 ament_package(

rmw_fastrtps_cpp/test/test_logging.cpp

@@ -0,0 +1,45 @@
+// Copyright 2020 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 "fastrtps/log/Log.h"
+
+#include "rmw/rmw.h"
+#include "rmw/error_handling.h"
+
+TEST(TestLogging, rmw_logging)
+{
+  rmw_ret_t ret = rmw_set_log_severity(RMW_LOG_SEVERITY_DEBUG);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Info, eprosima::fastrtps::Log::GetVerbosity());
+  ret = rmw_set_log_severity(RMW_LOG_SEVERITY_INFO);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Info, eprosima::fastrtps::Log::GetVerbosity());
+  ret = rmw_set_log_severity(RMW_LOG_SEVERITY_WARN);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Warning, eprosima::fastrtps::Log::GetVerbosity());
+  ret = rmw_set_log_severity(RMW_LOG_SEVERITY_ERROR);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Error, eprosima::fastrtps::Log::GetVerbosity());
+  ret = rmw_set_log_severity(RMW_LOG_SEVERITY_FATAL);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Error, eprosima::fastrtps::Log::GetVerbosity());
+}
+
+TEST(TestLogging, rmw_logging_bad_verbosity)
+{
+  rmw_ret_t ret = rmw_set_log_severity(static_cast<rmw_log_severity_t>(RMW_LOG_SEVERITY_FATAL + 1));
+  EXPECT_EQ(ret, RMW_RET_ERROR);
+}

rmw_fastrtps_dynamic_cpp/CMakeLists.txt

@@ -155,6 +155,10 @@ if(BUILD_TESTING)
     osrf_testing_tools_cpp rcutils rmw test_msgs
   )
   target_link_libraries(test_get_native_entities rmw_fastrtps_dynamic_cpp)
+
+  ament_add_gtest(test_logging test/test_logging.cpp)
+  ament_target_dependencies(test_logging rmw)
+  target_link_libraries(test_logging rmw_fastrtps_dynamic_cpp)
 endif()
 
 ament_package(

rmw_fastrtps_dynamic_cpp/test/test_logging.cpp

@@ -0,0 +1,45 @@
+// Copyright 2020 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 "fastrtps/log/Log.h"
+
+#include "rmw/rmw.h"
+#include "rmw/error_handling.h"
+
+TEST(TestLogging, rmw_logging)
+{
+  rmw_ret_t ret = rmw_set_log_severity(RMW_LOG_SEVERITY_DEBUG);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Info, eprosima::fastrtps::Log::GetVerbosity());
+  ret = rmw_set_log_severity(RMW_LOG_SEVERITY_INFO);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Info, eprosima::fastrtps::Log::GetVerbosity());
+  ret = rmw_set_log_severity(RMW_LOG_SEVERITY_WARN);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Warning, eprosima::fastrtps::Log::GetVerbosity());
+  ret = rmw_set_log_severity(RMW_LOG_SEVERITY_ERROR);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Error, eprosima::fastrtps::Log::GetVerbosity());
+  ret = rmw_set_log_severity(RMW_LOG_SEVERITY_FATAL);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Error, eprosima::fastrtps::Log::GetVerbosity());
+}
+
+TEST(TestLogging, rmw_logging_bad_verbosity)
+{
+  rmw_ret_t ret = rmw_set_log_severity(static_cast<rmw_log_severity_t>(RMW_LOG_SEVERITY_FATAL + 1));
+  EXPECT_EQ(ret, RMW_RET_ERROR);
+}

rmw_fastrtps_shared_cpp/test/CMakeLists.txt

@@ -29,3 +29,10 @@ if(TARGET test_names)
   ament_target_dependencies(test_names rmw)
   target_link_libraries(test_names ${PROJECT_NAME})
 endif()
+
+ament_add_gtest(test_logging test_logging.cpp)
+if(TARGET test_logging)
+  ament_target_dependencies(test_logging
+    osrf_testing_tools_cpp rcutils rmw)
+  target_link_libraries(test_logging rmw_fastrtps_shared_cpp)
+endif()

rmw_fastrtps_shared_cpp/test/test_logging.cpp

@@ -0,0 +1,48 @@
+// Copyright 2020 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 "fastrtps/log/Log.h"
+
+#include "rmw/rmw.h"
+#include "rmw/error_handling.h"
+
+#include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
+
+TEST(TestLogging, rmw_logging)
+{
+  rmw_ret_t ret = rmw_fastrtps_shared_cpp::__rmw_set_log_severity(RMW_LOG_SEVERITY_DEBUG);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Info, eprosima::fastrtps::Log::GetVerbosity());
+  ret = rmw_fastrtps_shared_cpp::__rmw_set_log_severity(RMW_LOG_SEVERITY_INFO);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Info, eprosima::fastrtps::Log::GetVerbosity());
+  ret = rmw_fastrtps_shared_cpp::__rmw_set_log_severity(RMW_LOG_SEVERITY_WARN);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Warning, eprosima::fastrtps::Log::GetVerbosity());
+  ret = rmw_fastrtps_shared_cpp::__rmw_set_log_severity(RMW_LOG_SEVERITY_ERROR);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Error, eprosima::fastrtps::Log::GetVerbosity());
+  ret = rmw_fastrtps_shared_cpp::__rmw_set_log_severity(RMW_LOG_SEVERITY_FATAL);
+  EXPECT_EQ(ret, RMW_RET_OK);
+  EXPECT_EQ(eprosima::fastrtps::Log::Kind::Error, eprosima::fastrtps::Log::GetVerbosity());
+}
+
+TEST(TestLogging, rmw_logging_bad_verbosity)
+{
+  rmw_ret_t ret = rmw_fastrtps_shared_cpp::__rmw_set_log_severity(
+    static_cast<rmw_log_severity_t>(RMW_LOG_SEVERITY_FATAL + 1));
+  EXPECT_EQ(ret, RMW_RET_ERROR);
+}