Ability to configure domain_id via InitOptions. (#1165)

Signed-off-by: Tomoya.Fujita <[email protected]>

Remove non-foxy api changes

Signed-off-by: Stephen Brawner <[email protected]>

Author: fujitatomoya

rclcpp/test/CMakeLists.txt

@@ -253,6 +253,11 @@ if(TARGET test_node_options)
   ament_target_dependencies(test_node_options "rcl")
   target_link_libraries(test_node_options ${PROJECT_NAME})
 endif()
+ament_add_gtest(test_init_options rclcpp/test_init_options.cpp)
+if(TARGET test_init_options)
+  ament_target_dependencies(test_init_options "rcl")
+  target_link_libraries(test_init_options ${PROJECT_NAME})
+endif()
 ament_add_gtest(test_parameter_client rclcpp/test_parameter_client.cpp)
 if(TARGET test_parameter_client)
   ament_target_dependencies(test_parameter_client

rclcpp/test/rclcpp/test_init_options.cpp

@@ -0,0 +1,46 @@
+// Copyright 2020 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 <string>
+#include <vector>
+
+#include "rcl/allocator.h"
+#include "rcl/domain_id.h"
+
+#include "rclcpp/init_options.hpp"
+
+
+TEST(TestInitOptions, test_construction) {
+  rcl_allocator_t allocator = rcl_get_default_allocator();
+  auto options = rclcpp::InitOptions(allocator);
+  const rcl_init_options_t * rcl_options = options.get_rcl_init_options();
+  ASSERT_TRUE(rcl_options != nullptr);
+  ASSERT_TRUE(rcl_options->impl != nullptr);
+
+  {
+    auto options_copy = rclcpp::InitOptions(options);
+    const rcl_init_options_t * rcl_options_copy = options_copy.get_rcl_init_options();
+    ASSERT_TRUE(rcl_options_copy != nullptr);
+    ASSERT_TRUE(rcl_options_copy->impl != nullptr);
+  }
+
+  {
+    auto options_copy = options;
+    const rcl_init_options_t * rcl_options_copy = options_copy.get_rcl_init_options();
+    ASSERT_TRUE(rcl_options_copy != nullptr);
+    ASSERT_TRUE(rcl_options_copy->impl != nullptr);
+  }
+}