Add check rcl_node_options_copy invalid out (#671)

* Add bug fix for rcl_node_options_copy

If copy source has options->arguments.impl==NULL
this will cause problem when calling fini
on options dst

* Add test case for bug fix
* Return error when passing not init object
* Remove unexpected usage test
* Init options with non empty arguments

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>

rcl/src/rcl/node_options.c

@@ -50,6 +50,10 @@ rcl_node_options_copy(
     RCL_SET_ERROR_MSG("Attempted to copy options into itself");
     return RCL_RET_INVALID_ARGUMENT;
   }
+  if (NULL != options_out->arguments.impl) {
+    RCL_SET_ERROR_MSG("Options out must be zero initialized");
+    return RCL_RET_INVALID_ARGUMENT;
+  }
   options_out->domain_id = options->domain_id;
   options_out->allocator = options->allocator;
   options_out->use_global_arguments = options->use_global_arguments;

rcl/test/rcl/test_node.cpp

@@ -784,11 +784,18 @@ TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_options) {
   EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_node_options_fini(nullptr));
   EXPECT_EQ(RCL_RET_OK, rcl_node_options_fini(&default_options));
   EXPECT_EQ(RCL_RET_OK, rcl_node_options_fini(&not_ini_options));
+}
 
-  // (TODO: blast545) will be fixed with: https://github.com/ros2/rcl/pull/671
-  // This causes the test suite to fail:
-  // rcl_node_options_t default_options = rcl_node_get_default_options();
-  // rcl_node_options_t not_ini_options;
-  // EXPECT_EQ(RCL_RET_OK, rcl_node_options_copy(&default_options, &not_ini_options));
-  // EXPECT_EQ(RCL_RET_OK, rcl_node_options_fini(&not_ini_options)); <-- code fails, returns -11
+/* Tests special case node_options
+ */
+TEST_F(CLASSNAME(TestNodeFixture, RMW_IMPLEMENTATION), test_rcl_node_options_fail) {
+  rcl_node_options_t prev_ini_options = rcl_node_get_default_options();
+  const char * argv[] = {"--ros-args"};
+  int argc = sizeof(argv) / sizeof(const char *);
+  EXPECT_EQ(
+    RCL_RET_OK,
+    rcl_parse_arguments(argc, argv, rcl_get_default_allocator(), &prev_ini_options.arguments));
+
+  rcl_node_options_t default_options = rcl_node_get_default_options();
+  EXPECT_EQ(RCL_RET_INVALID_ARGUMENT, rcl_node_options_copy(&default_options, &prev_ini_options));
 }