Add tests for node_options API (#1343)

* Add tests for node_options API

Signed-off-by: Stephen Brawner <brawner@gmail.com>

* Remove c-style casts

Signed-off-by: Stephen Brawner <brawner@gmail.com>

rclcpp/test/CMakeLists.txt

@@ -277,7 +277,7 @@ endif()
 ament_add_gtest(test_node_options rclcpp/test_node_options.cpp)
 if(TARGET test_node_options)
   ament_target_dependencies(test_node_options "rcl")
-  target_link_libraries(test_node_options ${PROJECT_NAME})
+  target_link_libraries(test_node_options ${PROJECT_NAME} mimick)
 endif()
 ament_add_gtest(test_init_options rclcpp/test_init_options.cpp)
 if(TARGET test_init_options)

rclcpp/test/rclcpp/test_node_options.cpp

@@ -14,6 +14,7 @@
 
 #include <gtest/gtest.h>
 
+#include <memory>
 #include <string>
 #include <vector>
 
@@ -23,6 +24,8 @@
 
 #include "rclcpp/node_options.hpp"
 
+#include "../mocking_utils/patch.hpp"
+
 
 TEST(TestNodeOptions, ros_args_only) {
   rcl_allocator_t allocator = rcl_get_default_allocator();
@@ -207,3 +210,109 @@ TEST(TestNodeOptions, append_parameter_override) {
   EXPECT_EQ(1u, options.parameter_overrides().size());
   EXPECT_EQ(std::string("some_parameter"), options.parameter_overrides()[0].get_name());
 }
+
+TEST(TestNodeOptions, rcl_node_options_fini_error) {
+  auto mock = mocking_utils::inject_on_return("lib:rclcpp", rcl_node_options_fini, RCL_RET_ERROR);
+  auto options = std::make_shared<rclcpp::NodeOptions>();
+  // Necessary to setup internal pointer
+  ASSERT_NE(nullptr, options->get_rcl_node_options());
+  // If fini fails, this should just log an error and continue
+  EXPECT_NO_THROW(options.reset());
+}
+
+TEST(TestNodeOptions, bool_setters_and_getters) {
+  rclcpp::NodeOptions options;
+
+  options.use_global_arguments(false);
+  EXPECT_FALSE(options.use_global_arguments());
+  EXPECT_FALSE(options.get_rcl_node_options()->use_global_arguments);
+  options.use_global_arguments(true);
+  EXPECT_TRUE(options.use_global_arguments());
+  EXPECT_TRUE(options.get_rcl_node_options()->use_global_arguments);
+
+  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);
+
+  options.use_intra_process_comms(false);
+  EXPECT_FALSE(options.use_intra_process_comms());
+  options.use_intra_process_comms(true);
+  EXPECT_TRUE(options.use_intra_process_comms());
+
+  options.enable_topic_statistics(false);
+  EXPECT_FALSE(options.enable_topic_statistics());
+  options.enable_topic_statistics(true);
+  EXPECT_TRUE(options.enable_topic_statistics());
+
+  options.start_parameter_services(false);
+  EXPECT_FALSE(options.start_parameter_services());
+  options.start_parameter_services(true);
+  EXPECT_TRUE(options.start_parameter_services());
+
+  options.allow_undeclared_parameters(false);
+  EXPECT_FALSE(options.allow_undeclared_parameters());
+  options.allow_undeclared_parameters(true);
+  EXPECT_TRUE(options.allow_undeclared_parameters());
+
+  options.start_parameter_event_publisher(false);
+  EXPECT_FALSE(options.start_parameter_event_publisher());
+  options.start_parameter_event_publisher(true);
+  EXPECT_TRUE(options.start_parameter_event_publisher());
+
+  options.automatically_declare_parameters_from_overrides(false);
+  EXPECT_FALSE(options.automatically_declare_parameters_from_overrides());
+  options.automatically_declare_parameters_from_overrides(true);
+  EXPECT_TRUE(options.automatically_declare_parameters_from_overrides());
+}
+
+TEST(TestNodeOptions, parameter_event_qos) {
+  rclcpp::NodeOptions options;
+  rclcpp::QoS qos1(1);
+  rclcpp::QoS qos2(2);
+  EXPECT_NE(qos1, options.parameter_event_qos());
+  EXPECT_NE(qos2, options.parameter_event_qos());
+  options.parameter_event_qos(qos1);
+  EXPECT_EQ(qos1, options.parameter_event_qos());
+  options.parameter_event_qos(qos2);
+  EXPECT_EQ(qos2, options.parameter_event_qos());
+}
+
+TEST(TestNodeOptions, parameter_event_publisher_options) {
+  rclcpp::NodeOptions options;
+  rclcpp::PublisherOptionsBase publisher_options;
+  publisher_options.use_default_callbacks = true;
+  options.parameter_event_publisher_options(publisher_options);
+  EXPECT_TRUE(options.parameter_event_publisher_options().use_default_callbacks);
+
+  publisher_options.use_default_callbacks = false;
+  options.parameter_event_publisher_options(publisher_options);
+  EXPECT_FALSE(options.parameter_event_publisher_options().use_default_callbacks);
+}
+
+TEST(TestNodeOptions, set_get_allocator) {
+  rclcpp::NodeOptions options;
+  EXPECT_NE(nullptr, options.allocator().allocate);
+  EXPECT_NE(nullptr, options.allocator().deallocate);
+  EXPECT_NE(nullptr, options.allocator().reallocate);
+  EXPECT_NE(nullptr, options.allocator().zero_allocate);
+
+  rcl_allocator_t fake_allocator;
+  fake_allocator.allocate = [](size_t, void *) -> void * {return nullptr;};
+  fake_allocator.deallocate = [](void *, void *) {};
+  fake_allocator.reallocate = [](void *, size_t, void *) -> void * {return nullptr;};
+  fake_allocator.zero_allocate = [](size_t, size_t, void *) -> void * {return nullptr;};
+  fake_allocator.state = rcl_get_default_allocator().state;
+
+  options.allocator(fake_allocator);
+  EXPECT_EQ(fake_allocator.allocate, options.allocator().allocate);
+  EXPECT_EQ(fake_allocator.deallocate, options.allocator().deallocate);
+  EXPECT_EQ(fake_allocator.reallocate, options.allocator().reallocate);
+  EXPECT_EQ(fake_allocator.zero_allocate, options.allocator().zero_allocate);
+  EXPECT_EQ(fake_allocator.state, options.allocator().state);
+
+  // Check invalid allocator
+  EXPECT_THROW(options.get_rcl_node_options(), std::bad_alloc);
+}