From fba891c0dff58b04eace926277cd9e49d96ca630 Mon Sep 17 00:00:00 2001
From: chapulina <louise@openrobotics.org>
Date: Thu, 26 Jul 2018 13:17:33 -0700
Subject: [PATCH] Implement rclcpp::is_initialized() (#522)

* Implement rclcpp::is_initialized()

* linter
---
 rclcpp/CMakeLists.txt               |  8 ++++++++
 rclcpp/include/rclcpp/utilities.hpp |  6 ++++++
 rclcpp/src/rclcpp/utilities.cpp     |  6 ++++++
 rclcpp/test/test_executor.cpp       |  4 ++--
 rclcpp/test/test_init.cpp           | 29 +++++++++++++++++++++++++++++
 rclcpp/test/test_utilities.cpp      |  2 ++
 6 files changed, 53 insertions(+), 2 deletions(-)
 create mode 100644 rclcpp/test/test_init.cpp

diff --git a/rclcpp/CMakeLists.txt b/rclcpp/CMakeLists.txt
index 10fe1da..5f549ba 100644
--- a/rclcpp/CMakeLists.txt
+++ b/rclcpp/CMakeLists.txt
@@ -386,6 +386,14 @@ if(BUILD_TESTING)
     target_link_libraries(test_utilities ${PROJECT_NAME})
   endif()
 
+  ament_add_gtest(test_init test/test_init.cpp
+    APPEND_LIBRARY_DIRS "${append_library_dirs}")
+  if(TARGET test_init)
+    ament_target_dependencies(test_init
+      "rcl")
+    target_link_libraries(test_init ${PROJECT_NAME})
+  endif()
+
   ament_add_gtest(test_multi_threaded_executor test/executors/test_multi_threaded_executor.cpp
     APPEND_LIBRARY_DIRS "${append_library_dirs}")
   if(TARGET test_multi_threaded_executor)
diff --git a/rclcpp/include/rclcpp/utilities.hpp b/rclcpp/include/rclcpp/utilities.hpp
index 3bf8cc1..1118417 100644
--- a/rclcpp/include/rclcpp/utilities.hpp
+++ b/rclcpp/include/rclcpp/utilities.hpp
@@ -87,6 +87,12 @@ RCLCPP_PUBLIC
 bool
 ok();
 
+/// Returns true if init() has already been called.
+/** \return True if init() has been called, false otherwise. */
+RCLCPP_PUBLIC
+bool
+is_initialized();
+
 /// Notify the signal handler and rmw that rclcpp is shutting down.
 RCLCPP_PUBLIC
 void
diff --git a/rclcpp/src/rclcpp/utilities.cpp b/rclcpp/src/rclcpp/utilities.cpp
index b85b857..af417fc 100644
--- a/rclcpp/src/rclcpp/utilities.cpp
+++ b/rclcpp/src/rclcpp/utilities.cpp
@@ -264,6 +264,12 @@ rclcpp::ok()
   return ::g_signal_status == 0;
 }
 
+bool
+rclcpp::is_initialized()
+{
+  return rcl_ok();
+}
+
 static std::mutex on_shutdown_mutex_;
 static std::vector<std::function<void(void)>> on_shutdown_callbacks_;
 
diff --git a/rclcpp/test/test_executor.cpp b/rclcpp/test/test_executor.cpp
index 4b51cf1..40e378b 100644
--- a/rclcpp/test/test_executor.cpp
+++ b/rclcpp/test/test_executor.cpp
@@ -28,7 +28,7 @@
 
 using namespace std::chrono_literals;
 
-class TestExcutors : public ::testing::Test
+class TestExecutors : public ::testing::Test
 {
 protected:
   static void SetUpTestCase()
@@ -50,7 +50,7 @@ protected:
 };
 
 // Make sure that executors detach from nodes when destructing
-TEST_F(TestExcutors, detachOnDestruction) {
+TEST_F(TestExecutors, detachOnDestruction) {
   {
     rclcpp::executors::SingleThreadedExecutor executor;
     executor.add_node(node);
diff --git a/rclcpp/test/test_init.cpp b/rclcpp/test/test_init.cpp
new file mode 100644
index 0000000..05cc943
--- /dev/null
+++ b/rclcpp/test/test_init.cpp
@@ -0,0 +1,29 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include "rclcpp/utilities.hpp"
+
+TEST(TestInit, is_initialized) {
+  EXPECT_FALSE(rclcpp::is_initialized());
+
+  rclcpp::init(0, nullptr);
+
+  EXPECT_TRUE(rclcpp::is_initialized());
+
+  rclcpp::shutdown();
+
+  EXPECT_TRUE(rclcpp::is_initialized());
+}
diff --git a/rclcpp/test/test_utilities.cpp b/rclcpp/test/test_utilities.cpp
index a0feb72..da63cef 100644
--- a/rclcpp/test/test_utilities.cpp
+++ b/rclcpp/test/test_utilities.cpp
@@ -48,4 +48,6 @@ TEST(TestUtilities, init_with_args) {
 
   ASSERT_EQ(1u, other_args.size());
   ASSERT_EQ(std::string{"process_name"}, other_args[0]);
+
+  EXPECT_TRUE(rclcpp::is_initialized());
 }