Enable test

rcljava/CMakeLists.txt

@@ -9,20 +9,58 @@ find_package(rmw REQUIRED)
 find_package(rmw_implementation_cmake REQUIRED)
 
 if (ANDROID)
-  find_host_package(Java COMPONENTS Development)
+  # https://cmake.org/cmake/help/v3.0/module/FindJava.html?highlight=java
+  find_host_package(Java 1.6 COMPONENTS Development)
 else()
-  find_package(Java COMPONENTS Development)
+  # https://cmake.org/cmake/help/v3.0/module/FindJava.html?highlight=java
+  find_package(Java 1.6 COMPONENTS Development)
+
+  # https://cmake.org/cmake/help/v3.0/module/FindJNI.html?highlight=jni
   find_package(JNI REQUIRED)
 endif()
 
+# https://cmake.org/cmake/help/v3.0/module/UseJava.html?highlight=java
 include (UseJava)
 
+### Definitions ###
 set(CMAKE_JAVA_COMPILE_FLAGS "-source" "1.6" "-target" "1.6")
 
 if(NOT WIN32)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra")
 endif()
 
+find_jar(JUNIT_JAR
+    NAMES
+        junit
+    PATHS
+        /usr/share/java
+    VERSIONS
+        4
+)
+
+# Bug in find_jar for Junit4 : https://sourceforge.net/p/rdkit/mailman/message/35301727/
+set(JUNIT_JAR "/usr/share/java/junit4.jar")
+
+set(${PROJECT_NAME}_sources
+  "src/main/java/org/ros2/rcljava/Node.java"
+  "src/main/java/org/ros2/rcljava/RCLJava.java"
+  "src/main/java/org/ros2/rcljava/Publisher.java"
+  "src/main/java/org/ros2/rcljava/Subscription.java"
+  "src/main/java/org/ros2/rcljava/Consumer.java"
+  "src/main/java/org/ros2/rcljava/Log.java"
+  "src/main/java/org/ros2/rcljava/QoSProfile.java"
+  "src/main/java/org/ros2/rcljava/NativeUtils.java"
+  "src/main/java/org/ros2/rcljava/exception/ImplementationAlreadyImportedException.java"
+  "src/main/java/org/ros2/rcljava/exception/InvalidRCLJAVAImplementation.java"
+  "src/main/java/org/ros2/rcljava/exception/NoImplementationAvailableException.java"
+  "src/main/java/org/ros2/rcljava/exception/NotInitializedException.java"
+
+  "src/test/java/org/ros2/rcljava/test/NodeTest.java"
+  "src/test/java/org/ros2/rcljava/test/RCLJavaTest.java"
+  "src/test/java/org/ros2/rcljava/test/RmwTest.java"
+)
+
+### Macro ###
 macro(target)
   if(NOT "${target_suffix} " STREQUAL " ")
     get_rcl_information("${rmw_implementation}" "rcl${target_suffix}")
@@ -31,15 +69,19 @@ macro(target)
   set(_jni_classes "RCLJava;Node;Publisher")
 
   foreach(_jni_class ${_jni_classes})
-
     set(_target_name "${PROJECT_NAME}${_jni_class}${target_suffix}")
 
     add_library(
       ${_target_name}
-      SHARED src/main/cpp/org_ros2_rcljava_${_jni_class}.cpp
+      SHARED
+        src/main/cpp/org_ros2_rcljava_${_jni_class}.cpp
+    )
+
+    target_compile_definitions(
+      ${_target_name}
+      PRIVATE
+        "RMW_IMPLEMENTATION_SUFFIX=${target_suffix}"
     )
-    target_compile_definitions(${_target_name}
-      PRIVATE "RMW_IMPLEMENTATION_SUFFIX=${target_suffix}")
 
     if(WIN32)
       set(_build_types ";_DEBUG;_MINSIZEREL;_RELEASE;_RELWITHDEBINFO")
@@ -48,19 +90,22 @@ macro(target)
     endif()
 
     foreach(_build_type ${_build_types})
-      set_target_properties(${_target_name} PROPERTIES
-        LIBRARY_OUTPUT_DIRECTORY${_build_type} "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}"
-        RUNTIME_OUTPUT_DIRECTORY${_build_type} "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}"
+      set_target_properties(
+        ${_target_name}
+        PROPERTIES
+          LIBRARY_OUTPUT_DIRECTORY${_build_type} "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}"
+          RUNTIME_OUTPUT_DIRECTORY${_build_type} "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}"
       )
     endforeach()
 
     ament_target_dependencies(${_target_name}
       "rcl${target_suffix}"
     )
 
-    target_include_directories(${_target_name}
+    target_include_directories(
+      ${_target_name}
       PUBLIC
-      ${JNI_INCLUDE_DIRS}
+        ${JNI_INCLUDE_DIRS}
     )
 
     if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
@@ -76,28 +121,44 @@ macro(target)
         LIBRARY DESTINATION lib
       )
     endif()
-
   endforeach()
 
 endmacro()
 
-set(${PROJECT_NAME}_sources
-  "src/main/java/org/ros2/rcljava/Node.java"
-  "src/main/java/org/ros2/rcljava/RCLJava.java"
-  "src/main/java/org/ros2/rcljava/Publisher.java"
-  "src/main/java/org/ros2/rcljava/Subscription.java"
-  "src/main/java/org/ros2/rcljava/Consumer.java"
-)
-
+### Main ###
 add_jar("${PROJECT_NAME}_jar"
+  SOURCES
   "${${PROJECT_NAME}_sources}"
+  INCLUDE_JARS
+  "${JUNIT_JAR}"
   OUTPUT_NAME
   "${PROJECT_NAME}"
 )
 
+set(TEST_COMMAND ${Java_JAVA_EXECUTABLE} ${JVMARGS} -classpath ${JUNIT_JAR}:${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/java/${PROJECT_NAME}.jar -Djava.library.path=${CMAKE_INSTALL_PREFIX}/lib/ org.junit.runner.JUnitCore)
+
+# add_test(
+#    NAME RmwTest
+#    COMMAND ${TEST_COMMAND} org.ros2.rcljava.test.RmwTest
+# )
+
+add_test(
+    NAME RCLJavaTest
+    COMMAND ${TEST_COMMAND} org.ros2.rcljava.test.RCLJavaTest
+)
+
+# add_test(
+#    NAME NodeTest
+#    COMMAND ${TEST_COMMAND} org.ros2.rcljava.test.NodeTest
+# )
+
+## loop for all RMW target.
 call_for_each_rmw_implementation(target)
 
+### Testing ###
 if(AMENT_ENABLE_TESTING)
+  enable_testing()
+
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
@@ -106,6 +167,7 @@ if(AMENT_ENABLE_TESTING)
   )
 endif()
 
+### Install ###
 if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
   set(_install_jar_dir "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}")
   get_property(_jar_file TARGET "${PROJECT_NAME}_jar" PROPERTY "JAR_FILE")

rcljava/src/main/java/org/ros2/rcljava/Consumer.java

@@ -14,6 +14,11 @@
  */
 package org.ros2.rcljava;
 
+/**
+ *
+ *
+ * @author Esteve Fernandez <[email protected]>
+ */
 public interface Consumer<T> {
     void accept(T t);
 }

rcljava/src/main/java/org/ros2/rcljava/Log.java

@@ -0,0 +1,36 @@
+/* Copyright 2016 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.
+ */
+package org.ros2.rcljava;
+
+import org.ros2.rcljava.exception.NoImplementationAvailableException;
+
+/**
+ * Not define in ROS2.
+ *
+ * @author Mickael Gaillard
+ */
+public class Log {
+
+    public Log() { }
+
+    public void fatal(Exception e) {
+        throw new NoImplementationAvailableException(e);
+    }
+
+    public void info(String string) {
+        throw new NoImplementationAvailableException(new Exception(string));
+    }
+
+}

rcljava/src/main/java/org/ros2/rcljava/NativeUtils.java

@@ -0,0 +1,34 @@
+package org.ros2.rcljava;
+
+import java.util.Vector;
+
+public abstract class NativeUtils {
+
+    private static java.lang.reflect.Field LIBRARIES;
+
+    static {
+        try {
+            LIBRARIES = ClassLoader.class.getDeclaredField("loadedLibraryNames");
+            LIBRARIES.setAccessible(true);
+        } catch (NoSuchFieldException e) {
+            e.printStackTrace();
+        } catch (SecurityException e) {
+            e.printStackTrace();
+        }
+    }
+
+    @SuppressWarnings("unchecked")
+    public static String[] getLoadedLibraries(final ClassLoader loader) {
+        Vector<String> libraries = new Vector<String>();
+
+        try {
+            libraries = (Vector<String>) LIBRARIES.get(loader);
+        } catch (IllegalArgumentException e) {
+            e.printStackTrace();
+        } catch (IllegalAccessException e) {
+            e.printStackTrace();
+        }
+
+        return libraries.toArray(new String[] {});
+    }
+}

rcljava/src/main/java/org/ros2/rcljava/Node.java

@@ -15,49 +15,105 @@
 package org.ros2.rcljava;
 
 import java.lang.ref.WeakReference;
-
 import java.util.ArrayList;
 import java.util.List;
+import java.util.logging.Logger;
 
+/**
+ * <h1>Node ROS2.</h1>
+ * <p></p>
+ * @author Esteve Fernandez <[email protected]>
+ * @author Mickael Gaillard <[email protected]>
+ */
 public class Node {
-   static {
-        try {
-            System.loadLibrary("rcljavaNode__" + RCLJava.getRMWIdentifier());
-        } catch (UnsatisfiedLinkError e) {
-            System.err.println("Native code library failed to load.\n" + e);
-            System.exit(1);
-        }
+    private static Logger logger = Logger.getLogger(RCLJava.LOG_NAME);
+
+    static {
+        RCLJava.loadLibrary("rcljavaNode__" + RCLJava.getRMWIdentifier());
     }
 
-    private long nodeHandle;
-    private List<Subscription> subscriptions = new ArrayList<Subscription>();
+    /** Node handler */
+    private final long nodeHandle;
+
+    /** List of subscriptions */
+    private final List<Subscription<?>> subscriptions;
+
+    // Native call.
+    private static native <T> long nativeCreatePublisherHandle(
+            long nodeHandle, Class<T> cls, String topic);
+
+    private static native <T> long nativeCreateSubscriptionHandle(
+            long nodeHandle, Class<T> cls, String topic);
 
+    /**
+     * Constructor of Node.
+     * @param nodeHandle Handler to the node.
+     */
     public Node(long nodeHandle) {
         this.nodeHandle = nodeHandle;
+        this.subscriptions = new ArrayList<Subscription<?>>();
     }
 
-    private static native <T> long nativeCreatePublisherHandle(
-        long nodeHandle, Class<T> cls, String topic);
+    /**
+     * <h1>Create a new publisher.</h1>
+     *
+     * @param <T> Message definition.
+     * @param message Message class.
+     * @param topic Topic to publish.
+     * @param qos QOS profile.
+     * @return Publisher instance.
+     */
+    public <T> Publisher<T> createPublisher(Class<T> message, String topic,  QoSProfile qos) {
+        logger.fine("Create Publisher : " + topic);
+        long publisherHandle = Node.nativeCreatePublisherHandle(this.nodeHandle, message, topic);
 
-    private static native <T> long nativeCreateSubscriptionHandle(
-        long nodeHandle, Class<T> cls, String topic);
+        Publisher<T> publisher = new Publisher<T>(this.nodeHandle, publisherHandle, message, topic, qos);
+        RCLJava.publisherReferences.add(new WeakReference<Publisher<?>>(publisher));
 
-    public <T> Publisher<T> createPublisher(Class<T> cls, String topic) {
-        long publisherHandle = nativeCreatePublisherHandle(this.nodeHandle, cls, topic);
-        Publisher<T> publisher = new Publisher<T>(this.nodeHandle, publisherHandle);
-        RCLJava.publisherReferences.add(new WeakReference<Publisher>(publisher));
         return publisher;
     }
 
-    public <T> Subscription<T> createSubscription(Class<T> cls, String topic, Consumer<T> callback) {
-        long subscriptionHandle = nativeCreateSubscriptionHandle(this.nodeHandle, cls, topic);
+    /**
+     * <h1>Create a new Subscriber with callback.</h1>
+     *
+     * @param <T> Message definition.
+     * @param message Message Class
+     * @param topic Topic to subscribe.
+     * @param callback Function to call on recieve.
+     * @param qos QOS profile.
+     * @return
+     */
+    public <T> Subscription<T> createSubscription(
+            Class<T> message,
+            String topic,
+            Consumer<T> callback,
+            QoSProfile qos) {
+        logger.fine("Create Subscription : " + topic);
+        long subscriptionHandle = Node.nativeCreateSubscriptionHandle(this.nodeHandle, message, topic);
 
-        Subscription<T> subscription = new Subscription<T>(this.nodeHandle, subscriptionHandle, cls, topic, callback);
+        Subscription<T> subscription = new Subscription<T>(
+                this.nodeHandle,
+                subscriptionHandle,
+                message,
+                topic,
+                callback,
+                qos);
         this.subscriptions.add(subscription);
         return subscription;
     }
 
-    public List<Subscription> getSubscriptions() {
+    /**
+     * Get list of Subscriptions.
+     * @return ArrayList of Subscriptions
+     */
+    public List<Subscription<?>> getSubscriptions() {
         return this.subscriptions;
     }
+
+    /**
+     * Release all Publisher ressource.
+     */
+    public void dispose() {
+        //TODO Implement on JNI
+    }
 }