[WIP]feat(agnocastlib): add --disable-external-lib-logs arg

Author: PeterWrighten

docs/agnocast_node_interface_comparison.md

@@ -200,8 +200,8 @@ 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` | - | **Supportable** | TBD | Enable logging to rosout |
-| `--disable-external-lib-logs` | - | **Default** | - | Disable external library logs |
+| `--enable-rosout-logs` | ✓ | **Full Support** | - | Enable logging to rosout |
+| `--disable-external-lib-logs` | ✓ | **Full Support** | - | Disable external library logs |
 | `--disable-stdout-logs` | ✓ | **Full Support** | - | Disable stdout logging |
 | `-e` (enclave) | ✗ | **Unsupported** | - | Specify security enclave |
 

src/agnocastlib/CMakeLists.txt

@@ -31,6 +31,7 @@ find_package(std_msgs REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(message_filters REQUIRED)
 find_package(glog REQUIRED)
+find_package(spdlog REQUIRED)
 
 add_library(agnocast SHARED
   src/agnocast.cpp src/agnocast_utils.cpp src/agnocast_publisher.cpp src/agnocast_subscription.cpp
@@ -52,6 +53,7 @@ target_link_libraries(agnocast
   ${rcl_yaml_param_parser_LIBRARIES}
   ${tracetools_LIBRARIES}
   ${LTTNGUST_LIBRARIES}
+  spdlog::spdlog
 )
 
 target_include_directories(agnocast PUBLIC

src/agnocastlib/src/node/agnocast_context.cpp

@@ -3,6 +3,17 @@
 #include <rcl/log_level.h>
 #include <rcutils/logging.h>
 
+#include <spdlog/sinks/basic_file_sink.h>
+#include <spdlog/spdlog.h>
+
+#include <unistd.h>
+
+#include <chrono>
+#include <cstdlib>
+#include <filesystem>
+#include <iomanip>
+#include <sstream>
+
 #include "agnocast/agnocast_tracepoint_wrapper.h"
 
 namespace agnocast
@@ -11,6 +22,48 @@ namespace agnocast
 Context g_context;
 std::mutex g_context_mtx;
 
+/// Generate a ROS2-style log directory path: ~/.ros/log/<timestamp-hostname-pid>/
+static std::string generate_log_directory()
+{
+  std::string base_dir;
+  const char * ros_log_dir = std::getenv("ROS_LOG_DIR");
+  const char * ros_home = std::getenv("ROS_HOME");
+  if (ros_log_dir && ros_log_dir[0] != '\0') {
+    base_dir = ros_log_dir;
+  } else if (ros_home && ros_home[0] != '\0') {
+    base_dir = std::string(ros_home) + "/log";
+  } else {
+    const char * home = std::getenv("HOME");
+    base_dir = std::string(home ? home : "/tmp") + "/.ros/log";
+  }
+
+  auto now = std::chrono::system_clock::now();
+  auto time_t_now = std::chrono::system_clock::to_time_t(now);
+  auto us =
+    std::chrono::duration_cast<std::chrono::microseconds>(now.time_since_epoch()).count() % 1000000;
+  std::tm tm_buf{};
+  localtime_r(&time_t_now, &tm_buf);
+
+  char hostname[256] = {};
+  gethostname(hostname, sizeof(hostname));
+
+  std::ostringstream oss;
+  oss << base_dir << "/" << std::put_time(&tm_buf, "%Y-%m-%d-%H-%M-%S") << "-"
+      << std::setfill('0') << std::setw(6) << us << "-" << hostname << "-" << getpid();
+  return oss.str();
+}
+
+static void initialize_spdlog(const std::string & log_dir)
+{
+  std::filesystem::create_directories(log_dir);
+  std::string log_file = log_dir + "/agnocast.log";
+  spdlog::drop("agnocast");
+  auto logger = spdlog::basic_logger_mt("agnocast", log_file);
+  logger->set_pattern("[%Y-%m-%d %H:%M:%S.%e] [%l] %v");
+  logger->flush_on(spdlog::level::warn);
+  spdlog::set_default_logger(logger);
+}
+
 static void noop_log_output_handler(
   const rcutils_log_location_t *, int, const char *, rcutils_time_point_value_t, const char *,
   va_list *)
@@ -48,11 +101,11 @@ void Context::init(int argc, char const * const * argv)
     rcl_reset_error();
   }
 
-  // Apply --disable-stdout-logs and detect --enable-rosout-logs within --ros-args scope.
-  // There is no public rcl API to extract these flags 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.
+  // Scan argv for flags that have no public rcl getter API.
+  // rcl_logging_configure() is not used because it would replace the rcutils output handler
+  // and couple agnocast to rcl's logging lifecycle.
   bool in_ros_args = false;
+  bool disable_external_lib_logs = false;
   for (const auto & arg : args) {
     if (arg == "--ros-args") {
       in_ros_args = true;
@@ -63,10 +116,17 @@ void Context::init(int argc, char const * const * argv)
         rcutils_logging_set_output_handler(noop_log_output_handler);
       } else if (arg == "--enable-rosout-logs") {
         enable_rosout_logs_ = true;
+      } else if (arg == "--disable-external-lib-logs") {
+        disable_external_lib_logs = true;
       }
     }
   }
 
+  // Initialize spdlog file logging unless explicitly disabled.
+  if (!disable_external_lib_logs) {
+    initialize_spdlog(generate_log_directory());
+  }
+
   initialized_ = true;
 
   TRACEPOINT(agnocast_init, static_cast<const void *>(this));