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add logger level service to lifecycle node. #2277

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merged 2 commits into from
Aug 26, 2023
Merged

add logger level service to lifecycle node. #2277

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e207fd5
add logger level service to lifecycle node.
fujitatomoya Aug 17, 2023
d395b3e
add logger service test for LifecycleNode.
fujitatomoya Aug 24, 2023
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4 changes: 4 additions & 0 deletions rclcpp_lifecycle/src/lifecycle_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -144,6 +144,10 @@ LifecycleNode::LifecycleNode(
&LifecycleNodeInterface::on_deactivate, this,
std::placeholders::_1));
register_on_error(std::bind(&LifecycleNodeInterface::on_error, this, std::placeholders::_1));

if (options.enable_logger_service()) {
node_logging_->create_logger_services(node_services_);
}
}

LifecycleNode::~LifecycleNode()
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33 changes: 33 additions & 0 deletions rclcpp_lifecycle/test/test_lifecycle_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,8 @@
#include "lifecycle_msgs/msg/transition.hpp"

#include "rcl_lifecycle/rcl_lifecycle.h"
#include "rcl_interfaces/srv/get_logger_levels.hpp"
#include "rcl_interfaces/srv/set_logger_levels.hpp"

#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
Expand All @@ -34,6 +36,8 @@
using lifecycle_msgs::msg::State;
using lifecycle_msgs::msg::Transition;

using namespace std::chrono_literals;

static const std::chrono::nanoseconds DEFAULT_EVENT_TIMEOUT = std::chrono::seconds(3);
static const std::chrono::nanoseconds DEFAULT_EVENT_SLEEP_PERIOD = std::chrono::milliseconds(100);

Expand Down Expand Up @@ -249,6 +253,35 @@ TEST_F(TestDefaultStateMachine, empty_initializer_rcl_errors) {
}
}

TEST_F(TestDefaultStateMachine, check_logger_services_exist) {
// Logger level services are disabled
{
rclcpp::NodeOptions options = rclcpp::NodeOptions();
options.enable_logger_service(false);
auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
"test_logger_service", "/test", options);
auto get_client = node->create_client<rcl_interfaces::srv::GetLoggerLevels>(
"/test/test_logger_service/get_logger_levels");
ASSERT_FALSE(get_client->wait_for_service(2s));
auto set_client = node->create_client<rcl_interfaces::srv::SetLoggerLevels>(
"/test/test_logger_service/set_logger_levels");
ASSERT_FALSE(set_client->wait_for_service(2s));
}
// Logger level services are enabled
{
rclcpp::NodeOptions options = rclcpp::NodeOptions();
options.enable_logger_service(true);
auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
"test_logger_service", "/test", options);
auto get_client = node->create_client<rcl_interfaces::srv::GetLoggerLevels>(
"/test/test_logger_service/get_logger_levels");
ASSERT_TRUE(get_client->wait_for_service(2s));
auto set_client = node->create_client<rcl_interfaces::srv::SetLoggerLevels>(
"/test/test_logger_service/set_logger_levels");
ASSERT_TRUE(set_client->wait_for_service(2s));
}
}

TEST_F(TestDefaultStateMachine, trigger_transition) {
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");

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