support basic colcon test. (#19)

* support basic colcon test. Signed-off-by: Tomoya Fujita <[email protected]> * add logging file and contents check via rsyslog test conf. Signed-off-by: Tomoya Fujita <[email protected]> * add test section in README. Signed-off-by: Tomoya Fujita <[email protected]> --------- Signed-off-by: Tomoya Fujita <[email protected]>
fujitatomoya · Sep 25, 2024 · ae29c87 · ae29c87
1 parent 2c3ed2f
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -41,6 +41,24 @@ install(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin)
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # cppcheck 1.90 doesn't understand some of the syntax in spdlog's bundled fmt
+  # code.  Since we already have cppcheck disabled on Linux, just disable it
+  # completely for this package.
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE
+    ament_cmake_cppcheck
+  )
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  ament_add_gmock(test_logging_interface test/test_logging_interface.cpp)
+  if(TARGET test_logging_interface)
+    target_link_libraries(test_logging_interface ${PROJECT_NAME} rcpputils::rcpputils)
+    target_compile_definitions(test_logging_interface PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
+  endif()
+endif()
+
 ament_export_libraries(${PROJECT_NAME})
 ament_export_targets(${PROJECT_NAME})
 ament_package()
diff --git a/README.md b/README.md
@@ -109,6 +109,22 @@ export RCL_LOGGING_IMPLEMENTATION=rcl_logging_syslog
 colcon build --symlink-install --cmake-clean-cache --packages-select rcl_logging_syslog rcl
 ```
 
+### Test
+
+Following to the previous build procedure, we need to copy [ros2-test.conf](./config/ros2-test.conf) to `/etc/rsyslog.d/`, and restart the `rsyslog`.
+
+```bash
+sudo cp ./config/ros2-test.conf /etc/rsyslog.d/
+```
+
+Then we can start the `colcon test`:
+
+This test creates and uses `/var/log/rcl_logging_syslog` directory in temporary for the test, and it checks the file existence and contents using `rcl_logging_syslog`.
+
+```bash
+colcon test --event-handlers console_direct+ --packages-select rcl_logging_syslog
+```
+
 ### Configuration
 
 [SYSLOG(3)](https://man7.org/linux/man-pages/man3/syslog.3.html) is really simple that does not have much interfaces to control on application side, it just writes the log data on `rsyslog` Unix Domain Socket.
@@ -128,7 +144,7 @@ See more details for https://www.rsyslog.com/doc/index.html.
 
 #### `rsyslog`
 
-Copy [ros-logging.conf](./config/ros2-logging.conf) to `/etc/rsyslog.d/`, and replace `<FLUENTBIT_IP>` with your own IP address where `fluent-bit` listens on.
+Copy [ros2-logging.conf](./config/ros2-logging.conf) to `/etc/rsyslog.d/`, and replace `<FLUENTBIT_IP>` with your own IP address where `fluent-bit` listens on.
 
 ```bash
 sudo cp ./config/ros2-logging.conf /etc/rsyslog.d/

diff --git a/config/ros2-test.conf b/config/ros2-test.conf
@@ -0,0 +1,23 @@
+#
+# ROS Test Setting
+#
+# This is an test configuration file for for rcl_logging_syslog.
+#
+# For more information install rsyslog-doc and see
+# /usr/share/doc/rsyslog-doc/html/configuration/index.html
+#
+
+# Test Message Format Template
+# See more details for https://www.rsyslog.com/doc/configuration/properties.html
+#$template TestFormat,"%msg:::sp-if-no-1st-sp%%msg:::drop-last-lf%\n"
+$template TestFormat,"%msg:2:$%\n"
+
+# Directory and File Name Test Template
+# See more details for https://www.rsyslog.com/doc/configuration/properties.html
+### e.g) /var/log/rcl_logging_syslog/test_logging_interface_1405655_1727291103.log
+$template TestFileName,"/var/log/rcl_logging_syslog/%programname%_%procid%_%$now-unixtimestamp%.log"
+
+# Log locally with specified templated file name.
+local1.* ?TestFileName;TestFormat
+local2.* ?TestFileName;TestFormat
+local3.* ?TestFileName;TestFormat
diff --git a/src/rcl_logging_syslog.cpp b/src/rcl_logging_syslog.cpp
@@ -12,26 +12,26 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <stdarg.h>
 #include <stdio.h>
 #include <stdlib.h>
-#include <stdarg.h>
 #include <syslog.h>
 
 #include <memory>
 #include <system_error>
 
-#include <rcl_logging_interface/rcl_logging_interface.h>
-
-#include <rcpputils/env.hpp>
-#include <rcpputils/scope_exit.hpp>
+#include "rcpputils/env.hpp"
+#include "rcpputils/scope_exit.hpp"
 
-#include <rcutils/allocator.h>
-#include <rcutils/logging.h>
+#include "rcutils/allocator.h"
+#include "rcutils/logging.h"
 #include "rcutils/logging_macros.h"
 #include "rcutils/process.h"
-#include <rcutils/snprintf.h>
-#include <rcutils/strdup.h>
-#include <rcutils/time.h>
+#include "rcutils/snprintf.h"
+#include "rcutils/strdup.h"
+#include "rcutils/time.h"
+
+#include "rcl_logging_interface/rcl_logging_interface.h"
 
 static const char * facility_env_name = "RCL_LOGGING_SYSLOG_FACILITY";
 
@@ -41,33 +41,35 @@ static std::shared_ptr<std::string> syslog_identity;
 
 static const char *logger_name = "rcl_logging_syslog";
 
-typedef struct facility_index {
+typedef struct facility_index
+{
   const char *c_name;
   const int c_value;
 } FACILITY_INDEX;
 
 const FACILITY_INDEX facility_table[] =
-  {
-    { "LOG_CRON", LOG_CRON },
-    { "LOG_DAEMON", LOG_DAEMON },
-    { "LOG_SYSLOG", LOG_SYSLOG },
-    { "LOG_USER", LOG_USER },
-    { "LOG_LOCAL0", LOG_LOCAL0 },
-    { "LOG_LOCAL1", LOG_LOCAL1 },
-    { "LOG_LOCAL2", LOG_LOCAL2 },
-    { "LOG_LOCAL3", LOG_LOCAL3 },
-    { "LOG_LOCAL4", LOG_LOCAL4 },
-    { "LOG_LOCAL5", LOG_LOCAL5 },
-    { "LOG_LOCAL6", LOG_LOCAL6 },
-    { "LOG_LOCAL7", LOG_LOCAL7 },
-    { NULL, -1 }
-  };
-
-static const char *get_facility_name(int facility) {
+{
+  {"LOG_CRON", LOG_CRON},
+  {"LOG_DAEMON", LOG_DAEMON},
+  {"LOG_SYSLOG", LOG_SYSLOG},
+  {"LOG_USER", LOG_USER},
+  {"LOG_LOCAL0", LOG_LOCAL0},
+  {"LOG_LOCAL1", LOG_LOCAL1},
+  {"LOG_LOCAL2", LOG_LOCAL2},
+  {"LOG_LOCAL3", LOG_LOCAL3},
+  {"LOG_LOCAL4", LOG_LOCAL4},
+  {"LOG_LOCAL5", LOG_LOCAL5},
+  {"LOG_LOCAL6", LOG_LOCAL6},
+  {"LOG_LOCAL7", LOG_LOCAL7},
+  {NULL, -1}
+};
+
+static const char * get_facility_name(int facility)
+{
   for (auto f = facility_table; f->c_name != NULL; f++) {
-      if (f->c_value == facility) {
-          return f->c_name;
-      }
+    if (f->c_value == facility) {
+      return f->c_name;
+    }
   }
   return "Unknown facility";
 }
@@ -137,7 +139,8 @@ static int rcutil_to_syslog_level(int rcutil_level)
   return syslog_level;
 }
 
-[[maybe_unused]] static void vlog_msg(int level, const char *format, ...) {
+[[maybe_unused]] static void vlog_msg(int level, const char *format, ...)
+{
   va_list args;
   va_start(args, format);
   vsyslog(level, format, args);
@@ -170,7 +173,7 @@ rcl_logging_ret_t rcl_logging_external_initialize(
   char * logdir = nullptr;
   rcl_logging_ret_t dir_ret = rcl_logging_get_logging_directory(allocator, &logdir);
   if (RCL_LOGGING_RET_OK != dir_ret) {
-    RCUTILS_SET_ERROR_MSG("Failed to get logging directory");
+    RCUTILS_SET_ERROR_MSG_AND_APPEND_PREV_ERROR("Failed to get logging directory");
     return dir_ret;
   } else {
     // rsyslog does not allow user to create or specify logging directory via API.