Add enable_rosout into NodeOptions. (#900)

* Add disable_rosout into NodeOptions.

Signed-off-by: Barry Xu <Barry.Xu@sony.com>

* Update comments

Signed-off-by: Barry Xu <Barry.Xu@sony.com>

* keep implementation consistency by using enable_rosout name

Signed-off-by: Barry Xu <Barry.Xu@sony.com>

* fix error comment

Signed-off-by: Barry Xu <Barry.Xu@sony.com>

* add test case for node options

Signed-off-by: Barry Xu <Barry.Xu@sony.com>

* fix source about copy value and reset rcl_node_options, add more test cases

Signed-off-by: Barry Xu <Barry.Xu@sony.com>

rclcpp/include/rclcpp/node_options.hpp

@@ -152,6 +152,22 @@ class NodeOptions
   NodeOptions &
   use_global_arguments(bool use_global_arguments);
 
+  /// Return the enable_rosout flag.
+  RCLCPP_PUBLIC
+  bool
+  enable_rosout() const;
+
+  /// Set the enable_rosout flag, return this for parameter idiom.
+  /**
+   * If false this will cause the node not to use rosout logging.
+   *
+   * Defaults to true for now, as there are still some cases where it is
+   * desirable.
+   */
+  RCLCPP_PUBLIC
+  NodeOptions &
+  enable_rosout(bool enable_rosout);
+
   /// Return the use_intra_process_comms flag.
   RCLCPP_PUBLIC
   bool
@@ -312,6 +328,8 @@ class NodeOptions
 
   bool use_global_arguments_ {true};
 
+  bool enable_rosout_ {true};
+
   bool use_intra_process_comms_ {false};
 
   bool start_parameter_services_ {true};

rclcpp/src/rclcpp/node_options.cpp

@@ -70,6 +70,7 @@ NodeOptions::operator=(const NodeOptions & other)
     this->arguments_ = other.arguments_;
     this->parameter_overrides_ = other.parameter_overrides_;
     this->use_global_arguments_ = other.use_global_arguments_;
+    this->enable_rosout_ = other.enable_rosout_;
     this->use_intra_process_comms_ = other.use_intra_process_comms_;
     this->start_parameter_services_ = other.start_parameter_services_;
     this->allocator_ = other.allocator_;
@@ -90,6 +91,7 @@ NodeOptions::get_rcl_node_options() const
     node_options_->allocator = this->allocator_;
     node_options_->use_global_arguments = this->use_global_arguments_;
     node_options_->domain_id = this->get_domain_id_from_env();
+    node_options_->enable_rosout = this->enable_rosout_;
 
     int c_argc = 0;
     std::unique_ptr<const char *[]> c_argv;
@@ -198,6 +200,20 @@ NodeOptions::use_global_arguments(bool use_global_arguments)
   return *this;
 }
 
+bool
+NodeOptions::enable_rosout() const
+{
+  return this->enable_rosout_;
+}
+
+NodeOptions &
+NodeOptions::enable_rosout(bool enable_rosout)
+{
+  this->node_options_.reset();  // reset node options to make it be recreated on next access.
+  this->enable_rosout_ = enable_rosout;
+  return *this;
+}
+
 bool
 NodeOptions::use_intra_process_comms() const
 {

rclcpp/test/test_node_options.cpp

@@ -98,3 +98,35 @@ TEST(TestNodeOptions, bad_ros_args) {
     options.get_rcl_node_options(),
     rclcpp::exceptions::UnknownROSArgsError);
 }
+
+TEST(TestNodeOptions, enable_rosout) {
+  {
+    auto options = rclcpp::NodeOptions();
+    EXPECT_TRUE(options.enable_rosout());
+    EXPECT_TRUE(options.get_rcl_node_options()->enable_rosout);
+  }
+
+  {
+    auto options = rclcpp::NodeOptions().enable_rosout(false);
+    EXPECT_FALSE(options.enable_rosout());
+    EXPECT_FALSE(options.get_rcl_node_options()->enable_rosout);
+  }
+
+  {
+    auto options = rclcpp::NodeOptions().enable_rosout(true);
+    EXPECT_TRUE(options.enable_rosout());
+    EXPECT_TRUE(options.get_rcl_node_options()->enable_rosout);
+  }
+
+  {
+    auto options = rclcpp::NodeOptions();
+    EXPECT_TRUE(options.enable_rosout());
+    EXPECT_TRUE(options.get_rcl_node_options()->enable_rosout);
+    options.enable_rosout(false);
+    EXPECT_FALSE(options.enable_rosout());
+    EXPECT_FALSE(options.get_rcl_node_options()->enable_rosout);
+    options.enable_rosout(true);
+    EXPECT_TRUE(options.enable_rosout());
+    EXPECT_TRUE(options.get_rcl_node_options()->enable_rosout);
+  }
+}