Add flag to enable/disable rosout logging in each node individually. (#532)

* Add flag to enable/disable rosout logging in each node individually.

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

rcl/include/rcl/node_options.h

@@ -57,6 +57,9 @@ typedef struct rcl_node_options_t
 
   /// Command line arguments that apply only to this node.
   rcl_arguments_t arguments;
+
+  /// Flag to enable rosout for this node
+  bool enable_rosout;
 } rcl_node_options_t;
 
 /// Return the default node options in a rcl_node_options_t.

rcl/src/rcl/node.c

@@ -358,7 +358,7 @@ rcl_node_init(
   }
   // The initialization for the rosout publisher requires the node to be in initialized to a point
   // that it can create new topic publishers
-  if (rcl_logging_rosout_enabled()) {
+  if (rcl_logging_rosout_enabled() && node->impl->options.enable_rosout) {
     ret = rcl_logging_rosout_init_publisher_for_node(node);
     if (ret != RCL_RET_OK) {
       // error message already set
@@ -376,7 +376,10 @@ rcl_node_init(
   goto cleanup;
 fail:
   if (node->impl) {
-    if (rcl_logging_rosout_enabled() && node->impl->logger_name) {
+    if (rcl_logging_rosout_enabled() &&
+      node->impl->options.enable_rosout &&
+      node->impl->logger_name)
+    {
       ret = rcl_logging_rosout_fini_publisher_for_node(node);
       RCUTILS_LOG_ERROR_EXPRESSION_NAMED((ret != RCL_RET_OK && ret != RCL_RET_NOT_INIT),
         ROS_PACKAGE_NAME, "Failed to fini publisher for node: %i", ret);
@@ -443,7 +446,7 @@ rcl_node_fini(rcl_node_t * node)
   rcl_allocator_t allocator = node->impl->options.allocator;
   rcl_ret_t result = RCL_RET_OK;
   rcl_ret_t rcl_ret = RCL_RET_OK;
-  if (rcl_logging_rosout_enabled()) {
+  if (rcl_logging_rosout_enabled() && node->impl->options.enable_rosout) {
     rcl_ret = rcl_logging_rosout_fini_publisher_for_node(node);
     if (rcl_ret != RCL_RET_OK && rcl_ret != RCL_RET_NOT_INIT) {
       RCL_SET_ERROR_MSG("Unable to fini publisher for node.");

rcl/src/rcl/node_options.c

@@ -30,6 +30,7 @@ rcl_node_get_default_options()
   static rcl_node_options_t default_options = {
     .domain_id = RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID,
     .use_global_arguments = true,
+    .enable_rosout = true,
   };
   // Must set the allocator after because it is not a compile time constant.
   default_options.allocator = rcl_get_default_allocator();
@@ -51,6 +52,7 @@ rcl_node_options_copy(
   options_out->domain_id = options->domain_id;
   options_out->allocator = options->allocator;
   options_out->use_global_arguments = options->use_global_arguments;
+  options_out->enable_rosout = options->enable_rosout;
   if (NULL != options->arguments.impl) {
     rcl_ret_t ret = rcl_arguments_copy(&(options->arguments), &(options_out->arguments));
     return ret;

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 +1,256 @@
+// 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 <string>
+#include <vector>
+
+#include "osrf_testing_tools_cpp/scope_exit.hpp"
+#include "rcl/error_handling.h"
+#include "rcl/rcl.h"
+#include "rcl/subscription.h"
+#include "rcl_interfaces/msg/log.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
+
+#define EXPAND(x) x
+#define TEST_FIXTURE_P_RMW(test_fixture_name) CLASSNAME(test_fixture_name, \
+    RMW_IMPLEMENTATION)
+#define APPLY(macro, ...) EXPAND(macro(__VA_ARGS__))
+#define TEST_P_RMW(test_case_name, test_name) \
+  APPLY(TEST_P, \
+    CLASSNAME(test_case_name, RMW_IMPLEMENTATION), test_name)
+#define INSTANTIATE_TEST_CASE_P_RMW(instance_name, test_case_name, ...) \
+  EXPAND(APPLY(INSTANTIATE_TEST_CASE_P, instance_name, \
+    CLASSNAME(test_case_name, RMW_IMPLEMENTATION), __VA_ARGS__))
+
+struct TestParameters
+{
+  int argc;
+  const char ** argv;
+  bool enable_node_option_rosout;
+  bool expected_success;
+  std::string description;
+};
+
+// for ::testing::PrintToStringParamName() to show the exact test case name
+std::ostream & operator<<(
+  std::ostream & out,
+  const TestParameters & params)
+{
+  out << params.description;
+  return out;
+}
+
+class TEST_FIXTURE_P_RMW (TestLoggingRosoutFixture)
+  : public ::testing::TestWithParam<TestParameters>
+{
+public:
+  void SetUp()
+  {
+    auto param = GetParam();
+    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(param.argc, param.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 (!param.enable_node_option_rosout) {
+      node_options.enable_rosout = param.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;
+  }
+
+protected:
+  rcl_context_t * context_ptr;
+  rcl_node_t * node_ptr;
+  rcl_subscription_t * subscription_ptr;
+};
+
+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;
+}
+
+/* Testing the subscriber of topic 'rosout' whether to get event from logging or not.
+ */
+TEST_P_RMW(TestLoggingRosoutFixture, test_logging_rosout) {
+  // 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_EQ(success, GetParam().expected_success);
+}
+
+//
+// create set of input and expected values
+//
+std::vector<TestParameters>
+get_parameters()
+{
+  std::vector<TestParameters> parameters;
+  static int s_argc = 2;
+  static const char * s_argv_enable_rosout[] = {"--ros-args", "--enable-rosout-logs"};
+  static const char * s_argv_disable_rosout[] = {"--ros-args", "--disable-rosout-logs"};
+
+  /*
+   * Test with enable(implicit) global rosout logs and enable node option of rosout.
+   */
+  parameters.push_back({
+    0,
+    nullptr,
+    true,
+    true,
+    "test_enable_implicit_global_rosout_enable_node_option"
+  });
+  /*
+   * Test with enable(implicit) global rosout logs and disable node option of rosout.
+   */
+  parameters.push_back({
+    0,
+    nullptr,
+    false,
+    false,
+    "test_enable_implicit_global_rosout_disable_node_option"
+  });
+  /*
+   * Test with enable(explicit) global rosout logs and enable node option of rosout.
+   */
+  parameters.push_back({
+    s_argc,
+    s_argv_enable_rosout,
+    true,
+    true,
+    "test_enable_explicit_global_rosout_enable_node_option"
+  });
+  /*
+   * Test with enable(explicit) global rosout logs and disable node option of rosout.
+   */
+  parameters.push_back({
+    s_argc,
+    s_argv_enable_rosout,
+    false,
+    false,
+    "test_enable_explicit_global_rosout_disable_node_option"
+  });
+  /*
+   * Test with disable global rosout logs and enable node option of rosout.
+   */
+  parameters.push_back({
+    s_argc,
+    s_argv_disable_rosout,
+    true,
+    false,
+    "test_disable_global_rosout_enable_node_option"
+  });
+  /*
+   * Test with disable global rosout logs and disable node option of rosout.
+   */
+  parameters.push_back({
+    s_argc,
+    s_argv_disable_rosout,
+    false,
+    false,
+    "test_disable_global_rosout_disable_node_option"
+  });
+
+  return parameters;
+}
+
+INSTANTIATE_TEST_CASE_P_RMW(
+  TestLoggingRosoutWithDifferentSettings,
+  TestLoggingRosoutFixture,
+  ::testing::ValuesIn(get_parameters()),
+  ::testing::PrintToStringParamName());