feat(agnocastlib, test): add --disable-stdout-logs support and corresponidng test

Signed-off-by: PeterWrighten <peterwrighten@gmail.com>

Author: PeterWrighten

docs/agnocast_node_interface_comparison.md

@@ -200,9 +200,9 @@ This provides the same argument parsing functionality as rcl.
 | `--` (end marker) | ✓ | **Full Support** | - | ROS arguments end marker |
 | `-r node:old:=new` | ✓ | **Full Support** | - | Node-specific remapping |
 | `--log-level` | ✓ | **Full Support** | - | Set log level |
-| `--enable-rosout-logs` | ✗ | **Unsupported** | TBD | Enable logging to rosout |
-| `--disable-external-lib-logs` | ✗ | **Unsupported** | TBD | Disable external library logs |
-| `--disable-stdout-logs` | ✗ | **Unsupported** | TBD | Disable stdout logging |
+| `--enable-rosout-logs` | - | **Supportable** | TBD | Enable logging to rosout |
+| `--disable-external-lib-logs` | - | **Default** | - | Disable external library logs |
+| `--disable-stdout-logs` | ✓ | **Full Support** | - | Disable stdout logging |
 | `-e` (enclave) | ✗ | **Unsupported** | TBD | Specify security enclave |
 
 ### 3.2 Parameter Override Resolution

src/agnocastlib/CMakeLists.txt

@@ -131,7 +131,8 @@ if(BUILD_TESTING)
     test/unit/test_mocked_agnocast.cpp
     test/unit/test_agnocast_executors.cpp
     test/unit/test_node_topics.cpp
-    test/unit/test_cie_client_utils.cpp)
+    test/unit/test_cie_client_utils.cpp
+    test/unit/test_agnocast_context.cpp)
   target_include_directories(test_unit_${PROJECT_NAME} PRIVATE include)
   target_link_libraries(test_unit_${PROJECT_NAME} agnocast)
   ament_target_dependencies(test_unit_${PROJECT_NAME} std_msgs)

src/agnocastlib/src/node/agnocast_context.cpp

@@ -1,4 +1,5 @@
 #include "agnocast/node/agnocast_context.hpp"
+#include <rcl/arguments.h>
 #include <rcl/log_level.h>
 #include <rcutils/logging.h>
 
@@ -10,6 +11,12 @@ namespace agnocast
 Context g_context;
 std::mutex g_context_mtx;
 
+static void noop_log_output_handler(
+  const rcutils_log_location_t *, int, const char *, rcutils_time_point_value_t, const char *,
+  va_list *)
+{
+}
+
 void Context::init(int argc, char const * const * argv)
 {
   if (initialized_) {
@@ -41,6 +48,22 @@ void Context::init(int argc, char const * const * argv)
     rcl_reset_error();
   }
 
+  // Apply --disable-stdout-logs if present within --ros-args scope.
+  // There is no public rcl API to extract this flag from rcl_arguments_t, so we scan argv directly.
+  // rcl_logging_configure() cannot be used as it would initialize spdlog and attempt to set up a
+  // rosout publisher (which requires rcl_node_t), neither of which exist in agnocast.
+  bool in_ros_args = false;
+  for (const auto & arg : args) {
+    if (arg == "--ros-args") {
+      in_ros_args = true;
+    } else if (arg == "--") {
+      in_ros_args = false;
+    } else if (in_ros_args && arg == "--disable-stdout-logs") {
+      rcutils_logging_set_output_handler(noop_log_output_handler);
+      break;
+    }
+  }
+
   initialized_ = true;
 }
 

src/agnocastlib/test/unit/test_agnocast_context.cpp

@@ -0,0 +1,79 @@
+#include "agnocast/node/agnocast_context.hpp"
+
+#include <rcutils/logging.h>
+
+#include <gtest/gtest.h>
+
+// =========================================
+// agnocast::Context --disable-stdout-logs tests
+// =========================================
+
+class AgnocastContextStdoutLogsTest : public ::testing::Test
+{
+protected:
+  void SetUp() override { original_handler_ = rcutils_logging_get_output_handler(); }
+
+  void TearDown() override
+  {
+    // Restore the original handler so other tests are not affected.
+    rcutils_logging_set_output_handler(original_handler_);
+  }
+
+  rcutils_logging_output_handler_t original_handler_;
+};
+
+TEST_F(AgnocastContextStdoutLogsTest, disable_stdout_logs_changes_handler)
+{
+  // Arrange
+  const char * argv[] = {"program", "--ros-args", "--disable-stdout-logs"};
+  int argc = 3;
+  agnocast::Context ctx;
+
+  // Act
+  ctx.init(argc, argv);
+
+  // Assert: output handler must have been replaced with a no-op
+  EXPECT_NE(rcutils_logging_get_output_handler(), original_handler_);
+}
+
+TEST_F(AgnocastContextStdoutLogsTest, no_flag_keeps_handler_unchanged)
+{
+  // Arrange
+  const char * argv[] = {"program", "--ros-args", "--log-level", "info"};
+  int argc = 4;
+  agnocast::Context ctx;
+
+  // Act
+  ctx.init(argc, argv);
+
+  // Assert: output handler must not have changed
+  EXPECT_EQ(rcutils_logging_get_output_handler(), original_handler_);
+}
+
+TEST_F(AgnocastContextStdoutLogsTest, flag_outside_ros_args_is_ignored)
+{
+  // Arrange: --disable-stdout-logs appears before --ros-args, so it is not a ROS argument
+  const char * argv[] = {"program", "--disable-stdout-logs", "--ros-args", "--log-level", "info"};
+  int argc = 5;
+  agnocast::Context ctx;
+
+  // Act
+  ctx.init(argc, argv);
+
+  // Assert: flag outside --ros-args scope must be ignored
+  EXPECT_EQ(rcutils_logging_get_output_handler(), original_handler_);
+}
+
+TEST_F(AgnocastContextStdoutLogsTest, flag_after_double_dash_terminator_is_ignored)
+{
+  // Arrange: --disable-stdout-logs appears after -- (end of ROS args), so it is not a ROS argument
+  const char * argv[] = {"program", "--ros-args", "--", "--disable-stdout-logs"};
+  int argc = 4;
+  agnocast::Context ctx;
+
+  // Act
+  ctx.init(argc, argv);
+
+  // Assert: flag after -- must be ignored
+  EXPECT_EQ(rcutils_logging_get_output_handler(), original_handler_);
+}