feat(test): add unit test for --enable-rosout-logs

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

Author: PeterWrighten

docs/agnocast_node_interface_comparison.md

@@ -203,7 +203,7 @@ This provides the same argument parsing functionality as rcl.
 | `--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 |
+| `-e` (enclave) | ✗ | **Unsupported** | - | Specify security enclave |
 
 ### 3.2 Parameter Override Resolution
 

src/agnocastlib/CMakeLists.txt

@@ -18,6 +18,7 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(rcl_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(rcl_yaml_param_parser REQUIRED)
@@ -37,15 +38,15 @@ add_library(agnocast SHARED
   src/agnocast_single_threaded_executor.cpp src/agnocast_multi_threaded_executor.cpp
   src/agnocast_callback_isolated_executor.cpp
   src/agnocast_tracepoint_wrapper.c src/agnocast_client.cpp
-  src/node/agnocast_node.cpp src/node/agnocast_arguments.cpp src/node/agnocast_context.cpp src/node/agnocast_signal_handler.cpp
+  src/node/agnocast_node.cpp src/node/agnocast_arguments.cpp src/node/agnocast_context.cpp src/node/agnocast_rosout.cpp src/node/agnocast_signal_handler.cpp
   src/node/agnocast_only_executor.cpp src/node/agnocast_only_single_threaded_executor.cpp src/node/agnocast_only_multi_threaded_executor.cpp
   src/node/agnocast_only_callback_isolated_executor.cpp
   src/cie_client_utils.cpp
   src/node/node_interfaces/node_base.cpp src/node/node_interfaces/node_parameters.cpp src/node/node_interfaces/node_topics.cpp src/node/node_interfaces/node_clock.cpp src/node/node_interfaces/node_time_source.cpp src/node/node_interfaces/node_services.cpp src/node/node_interfaces/node_logging.cpp
   src/bridge/standard/agnocast_standard_bridge_ipc_event_loop.cpp src/bridge/standard/agnocast_standard_bridge_loader.cpp src/bridge/standard/agnocast_standard_bridge_manager.cpp src/bridge/agnocast_bridge_utils.cpp
   src/bridge/performance/agnocast_performance_bridge_ipc_event_loop.cpp src/bridge/performance/agnocast_performance_bridge_loader.cpp src/bridge/performance/agnocast_performance_bridge_manager.cpp)
 
-ament_target_dependencies(agnocast rclcpp agnocast_cie_thread_configurator rosgraph_msgs agnocast_cie_config_msgs ament_index_cpp message_filters)
+ament_target_dependencies(agnocast rcl_interfaces rclcpp agnocast_cie_thread_configurator rosgraph_msgs agnocast_cie_config_msgs ament_index_cpp message_filters)
 
 target_link_libraries(agnocast
   ${rcl_yaml_param_parser_LIBRARIES}

src/agnocastlib/package.xml

@@ -21,6 +21,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>rcl_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>rcl_yaml_param_parser</depend>

src/agnocastlib/test/unit/test_agnocast_context.cpp

@@ -4,6 +4,79 @@
 
 #include <gtest/gtest.h>
 
+// =========================================
+// agnocast::Context --enable-rosout-logs tests
+// =========================================
+
+class AgnocastContextRosoutTest : public ::testing::Test
+{
+protected:
+  void SetUp() override { original_handler_ = rcutils_logging_get_output_handler(); }
+
+  void TearDown() override { rcutils_logging_set_output_handler(original_handler_); }
+
+  rcutils_logging_output_handler_t original_handler_;
+};
+
+TEST_F(AgnocastContextRosoutTest, enable_rosout_logs_sets_flag)
+{
+  const char * argv[] = {"program", "--ros-args", "--enable-rosout-logs"};
+  int argc = 3;
+  agnocast::Context ctx;
+
+  ctx.init(argc, argv);
+
+  EXPECT_TRUE(ctx.is_rosout_enabled());
+}
+
+TEST_F(AgnocastContextRosoutTest, no_flag_rosout_disabled)
+{
+  const char * argv[] = {"program", "--ros-args", "--log-level", "info"};
+  int argc = 4;
+  agnocast::Context ctx;
+
+  ctx.init(argc, argv);
+
+  EXPECT_FALSE(ctx.is_rosout_enabled());
+}
+
+TEST_F(AgnocastContextRosoutTest, flag_outside_ros_args_is_ignored)
+{
+  const char * argv[] = {"program", "--enable-rosout-logs", "--ros-args", "--log-level", "info"};
+  int argc = 5;
+  agnocast::Context ctx;
+
+  ctx.init(argc, argv);
+
+  EXPECT_FALSE(ctx.is_rosout_enabled());
+}
+
+TEST_F(AgnocastContextRosoutTest, flag_after_double_dash_is_ignored)
+{
+  const char * argv[] = {"program", "--ros-args", "--", "--enable-rosout-logs"};
+  int argc = 4;
+  agnocast::Context ctx;
+
+  ctx.init(argc, argv);
+
+  EXPECT_FALSE(ctx.is_rosout_enabled());
+}
+
+TEST_F(AgnocastContextRosoutTest, both_disable_stdout_and_enable_rosout)
+{
+  const char * argv[] = {
+    "program", "--ros-args", "--disable-stdout-logs", "--enable-rosout-logs"};
+  int argc = 4;
+  agnocast::Context ctx;
+
+  ctx.init(argc, argv);
+
+  // --enable-rosout-logs flag should be set
+  EXPECT_TRUE(ctx.is_rosout_enabled());
+  // --disable-stdout-logs should have replaced the handler
+  EXPECT_NE(rcutils_logging_get_output_handler(), original_handler_);
+}
+
 // =========================================
 // agnocast::Context --disable-stdout-logs tests
 // =========================================