test_logger_before_init.cpp

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// Regression test for moveit/moveit2#3827's before-rclcpp::init() fallback
// path. getGlobalRootLogger()'s underlying rclcpp::Logger is a
// function-local static computed exactly once per process, so this test
// must be the first thing in its process to touch it -- it is deliberately
// its own single-test executable (its own OS process under ctest), rather
// than a test case inside test_logger.cpp, so nothing else can call
// rclcpp::init() first regardless of gtest execution order.
//
// Uses the public API (moveit::getLogger()) rather than the private
// getGlobalRootLogger(), since getLogger() calls getGlobalRootLogger()
// internally (see logger.cpp) and so exercises the same fallback without
// needing to forward-declare an implementation-detail symbol.
#include <moveit/utils/logger.hpp>
#include <gtest/gtest.h>
#include <rclcpp/rclcpp.hpp>
 
namespace
{
 
TEST(LoggerBeforeInitTest, GetLoggerFallsBackWithoutNode)
{
  ASSERT_FALSE(rclcpp::ok()) << "this test must run alone, in a fresh process, before rclcpp::init()";
 
  // moveit::getLogger() must not throw or crash when no rclcpp context has
  // ever been initialized; it should fall back to a plain, non-node logger.
  EXPECT_NO_THROW({ moveit::getLogger("child"); });
 
  const rclcpp::Logger logger = moveit::getLogger("child");
  EXPECT_NE(logger.get_name(), nullptr);
}
 
}  // namespace
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}