Add tests for init functions

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>
ros2 · May 22, 2020 · 7163ee4 · 7163ee4
1 parent a7abb11
commit 7163ee4
Showing 1 changed file with 13 additions and 0 deletions.
diff --git a/rcl/test/rcl/test_init.cpp b/rcl/test/rcl/test_init.cpp
@@ -111,6 +111,10 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_and_shutdown
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
   rcl_reset_error();
   ASSERT_FALSE(rcl_context_is_valid(&context));
+  // Already init
+  ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
+  EXPECT_EQ(RCL_RET_ALREADY_INIT, ret) << rcl_get_error_string().str;
+  rcl_reset_error();
   // If argc is not 0, but argv is, it should be an invalid argument.
   ret = rcl_init(42, nullptr, &init_options, &context);
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
@@ -122,6 +126,11 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_and_shutdown
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
   rcl_reset_error();
   ASSERT_FALSE(rcl_context_is_valid(&context));
+  // If argc is less than 1, argv is not null, it should be an invalid argument.
+  ret = rcl_init(0, invalid_args, &init_options, &context);
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, ret);
+  rcl_reset_error();
+  ASSERT_FALSE(rcl_context_is_valid(&context));
   // If either the allocate or deallocate function pointers are not set, it should be invalid arg.
   init_options.impl->allocator.allocate = nullptr;
   ret = rcl_init(0, nullptr, &init_options, &context);
@@ -284,4 +293,8 @@ TEST_F(CLASSNAME(TestRCLFixture, RMW_IMPLEMENTATION), test_rcl_init_options_acce
 
   const rcl_allocator_t * options_allocator = rcl_init_options_get_allocator(&init_options);
   EXPECT_TRUE(rcutils_allocator_is_valid(options_allocator));
+
+  rcl_init_options_t init_options_dst = rcl_get_zero_initialized_init_options();
+  EXPECT_EQ(RCL_RET_OK, rcl_init_options_copy(&init_options, &init_options_dst));
+  EXPECT_EQ(RCL_RET_ALREADY_INIT, rcl_init_options_copy(&init_options, &init_options_dst));
 }