feat(agnocastlib): enable file logging for agnocast::Node (#1204)

* enable file logging for agnocast::Node

Signed-off-by: Koichi Imai <koichi.imai.2@tier4.jp>

* fix to use parsed_arguments

Signed-off-by: Koichi Imai <koichi.imai.2@tier4.jp>

* fix to use rcl_get_default_allocator

Signed-off-by: Koichi Imai <koichi.imai.2@tier4.jp>

* update agnocast_node_interface_comparison.md

Signed-off-by: Koichi Imai <koichi.imai.2@tier4.jp>

* add shutdown and move initialized_=true

Signed-off-by: Koichi Imai <koichi.imai.2@tier4.jp>

* fixed comments

Signed-off-by: Koichi Imai <koichi.imai.2@tier4.jp>

* check initialized when shutdown

Signed-off-by: Koichi Imai <koichi.imai.2@tier4.jp>

---------

Signed-off-by: Koichi Imai <koichi.imai.2@tier4.jp>

Author: Koichi98

docs/agnocast_node_interface_comparison.md

@@ -201,7 +201,7 @@ This provides the same argument parsing functionality as rcl.
 | `-r node:old:=new` | ✓ | **Full Support** | - | Node-specific remapping |
 | `--log-level` | ✗ | **Unsupported** | TBD | Set log level |
 | `--enable-rosout-logs` | ✗ | **Unsupported** | TBD | Enable logging to rosout |
-| `--disable-external-lib-logs` | ✗ | **Unsupported** | TBD | Disable external library logs |
+| `--disable-external-lib-logs` | ✓ | **Full Support** | - | Disable external library logs (file logging via rcl_logging_spdlog) |
 | `--disable-stdout-logs` | ✗ | **Unsupported** | TBD | Disable stdout logging |
 | `-e` (enclave) | ✗ | **Unsupported** | TBD | Specify security enclave |
 
@@ -394,6 +394,8 @@ agnocast::Node uses the following rcl/rclcpp functions, data structures, and cla
 - `rcl_arguments_get_param_overrides()` - Get parameter overrides
 - `rcl_arguments_fini()` - Argument cleanup
 - `rcl_get_default_allocator()` - Get default allocator
+- `rcl_logging_configure_with_output_handler()` - Configure rcl logging with file output via rcl_logging_spdlog
+- `rcl_logging_multiple_output_handler()` - Default output handler that dispatches to stdout and external lib (spdlog)
 - `rcl_enable_ros_time_override()` - Enable ROS time override for simulated time
 - `rcl_disable_ros_time_override()` - Disable ROS time override
 - `rcl_set_ros_time_override()` - Set ROS time override value

src/agnocast_components/src/node_main_agnocast_only.cpp.in

@@ -72,6 +72,6 @@ int main(int argc, char * argv[])
     return 1;
   }
 
-  // TODO(Koichi98): Add agnocast::shutdown() here
+  agnocast::shutdown();
   return 0;
 }

src/agnocast_sample_application/src/no_rclcpp_client.cpp

@@ -43,6 +43,6 @@ int main(int argc, char * argv[])
   RCLCPP_INFO(node->get_logger(), "Result2: %ld", future.get()->sum);
 
   spin_thread.join();
-  // TODO(Koichi98): Add agnocast::shutdown() here
+  agnocast::shutdown();
   return 0;
 }

src/agnocast_sample_application/src/no_rclcpp_server.cpp

@@ -32,6 +32,6 @@ int main(int argc, char * argv[])
   auto node = std::make_shared<NoRclcppServer>();
   executor.add_node(node);
   executor.spin();
-  // TODO(Koichi98): Add agnocast::shutdown() here
+  agnocast::shutdown();
   return 0;
 }

src/agnocastlib/include/agnocast/node/agnocast_context.hpp

@@ -35,11 +35,16 @@ class Context
 extern Context g_context;
 extern std::mutex g_context_mtx;
 
-/// @brief Initialize Agnocast for Stage 2 (agnocast::Node). Must be called once before creating
-/// any agnocast::Node. This is the Stage 2 equivalent of rclcpp::init().
+/// @brief Initialize Agnocast. Must be called once before creating any agnocast::Node.
+/// This is the counterpart of rclcpp::init() for agnocast::Node.
 /// @param argc Number of command-line arguments.
 /// @param argv Command-line argument array.
 AGNOCAST_PUBLIC
 void init(int argc, char const * const * argv);
 
+/// @brief Shut down Agnocast. Should be called before process exit in agnocast::Node processes.
+/// This is the counterpart of rclcpp::shutdown() for agnocast::Node.
+AGNOCAST_PUBLIC
+void shutdown();
+
 }  // namespace agnocast

src/agnocastlib/src/agnocast_client.cpp

@@ -61,7 +61,7 @@ bool wait_for_service_nanoseconds(
   nanoseconds time_to_wait =
     timeout > nanoseconds(0) ? timeout - (steady_clock::now() - start) : nanoseconds::max();
   do {
-    // TODO(Koichi98): agnocast::ok and agnocast::shutdown are planned to be implemented.
+    // TODO(Koichi98): agnocast::ok is planned to be implemented.
     // For standalone agnocast nodes (without rclcpp::init()), context->is_valid() returns false,
     // so we skip the rclcpp::ok() check in that case.
     if ((context && context->is_valid()) ? !rclcpp::ok(context) : false) {

src/agnocastlib/src/node/agnocast_context.cpp

@@ -2,6 +2,10 @@
 
 #include "agnocast/agnocast_tracepoint_wrapper.h"
 
+#include <rcl/error_handling.h>
+#include <rcl/logging.h>
+#include <rcutils/logging_macros.h>
+
 namespace agnocast
 {
 
@@ -22,8 +26,19 @@ void Context::init(int argc, char const * const * argv)
   }
 
   parsed_arguments_ = parse_arguments(args);
-  initialized_ = true;
 
+  // Initialize rcl logging so that RCLCPP_INFO/WARN/etc. are written to
+  // ~/.ros/log/ files via rcl_logging_spdlog, matching rclcpp::init() behavior.
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  rcl_ret_t ret = rcl_logging_configure_with_output_handler(
+    parsed_arguments_.get(), &allocator, rcl_logging_multiple_output_handler);
+  if (ret != RCL_RET_OK) {
+    RCUTILS_LOG_ERROR_NAMED(
+      "agnocast", "Failed to configure logging: %s", rcl_get_error_string().str);
+    rcl_reset_error();
+  }
+
+  initialized_ = true;
   TRACEPOINT(agnocast_init, static_cast<const void *>(this));
 }
 
@@ -33,4 +48,22 @@ void init(int argc, char const * const * argv)
   g_context.init(argc, argv);
 }
 
+void shutdown()
+{
+  std::lock_guard<std::mutex> lock(g_context_mtx);
+  if (!g_context.is_initialized()) {
+    return;
+  }
+
+  // TODO(Koichi98): Add SignalHandler cleanup (uninstall signal handlers, reset state)
+  // and notify all executors to stop spinning via SignalHandler::notify_all_executors().
+
+  rcl_ret_t ret = rcl_logging_fini();
+  if (ret != RCL_RET_OK) {
+    RCUTILS_LOG_ERROR_NAMED(
+      "agnocast", "Failed to finalize logging: %s", rcl_get_error_string().str);
+    rcl_reset_error();
+  }
+}
+
 }  // namespace agnocast

src/agnocastlib/test/integration/message_filters/test_subscriber.cpp

@@ -268,8 +268,7 @@ class AgnocastNodeSubscriberTest : public ::testing::Test
     }
     executor_.reset();
     node_.reset();
-    // TODO(Koichi98): Call agnocast::shutdown() once available.
-    // See https://github.com/autowarefoundation/agnocast/issues/1019
+    agnocast::shutdown();
   }
 
   void waitFor(

src/agnocastlib/test/integration/test_agnocast_only_callback_isolated_executor.cpp

@@ -78,7 +78,7 @@ class AgnocastOnlyCallbackIsolatedExecutorTest : public ::testing::Test
   void TearDown() override
   {
     rclcpp::shutdown();
-    // TODO(Koichi98): Call agnocast::shutdown() once available.
+    agnocast::shutdown();
   }
 };