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Add flag to enable/disable rosout logging in each node individually. (r…
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…os2#532)

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

Signed-off-by: Barry Xu <Barry.Xu@sony.com>
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Barry-Xu-2018 authored and ralph-lange committed Dec 10, 2019
1 parent fbe299a commit 9331af1
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Showing 5 changed files with 275 additions and 3 deletions.
3 changes: 3 additions & 0 deletions rcl/include/rcl/node_options.h
Original file line number Diff line number Diff line change
Expand Up @@ -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.
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9 changes: 6 additions & 3 deletions rcl/src/rcl/node.c
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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);
Expand Down Expand Up @@ -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.");
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2 changes: 2 additions & 0 deletions rcl/src/rcl/node_options.c
Original file line number Diff line number Diff line change
Expand Up @@ -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();
Expand All @@ -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;
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8 changes: 8 additions & 0 deletions rcl/test/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -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}
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256 changes: 256 additions & 0 deletions rcl/test/rcl/test_logging_rosout.cpp
Original file line number Diff line number Diff line change
@@ -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());

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