Add tests, refactor common code, add Javadocs

rcljava/CMakeLists.txt

@@ -7,22 +7,26 @@ find_package(ament_cmake_export_jars REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rmw_implementation_cmake REQUIRED)
+find_package(rcljava_common REQUIRED)
+find_package(JavaExtra MODULE)
 
-if (ANDROID)
+if(ANDROID)
   find_host_package(Java COMPONENTS Development)
 else()
   find_package(Java COMPONENTS Development)
   find_package(JNI REQUIRED)
 endif()
 
-include (UseJava)
+include(UseJava)
 
 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()
 
+include_directories(include)
+
 macro(target)
   if(NOT "${target_suffix} " STREQUAL " ")
     get_rcl_information("${rmw_implementation}" "rcl${target_suffix}")
@@ -56,37 +60,31 @@ macro(target)
 
     ament_target_dependencies(${_target_name}
       "rcl${target_suffix}"
+      "rcljava_common"
     )
 
     target_include_directories(${_target_name}
       PUBLIC
       ${JNI_INCLUDE_DIRS}
     )
 
-    if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
-      ament_export_libraries(${_target_name})
+    ament_export_libraries(${_target_name})
 
-      install(TARGETS ${_msg_name}${_javaext_suffix}
-        DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}/${_msg_package_dir2}"
-        ARCHIVE DESTINATION lib
-        LIBRARY DESTINATION lib
-      )
-      install(TARGETS ${_target_name}
-        ARCHIVE DESTINATION lib
-        LIBRARY DESTINATION lib
-      )
-    endif()
+    install(TARGETS ${_target_name}
+      ARCHIVE DESTINATION lib
+      LIBRARY DESTINATION lib
+    )
 
   endforeach()
 
 endmacro()
 
 set(${PROJECT_NAME}_sources
+  "src/main/java/org/ros2/rcljava/Consumer.java"
   "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/RCLJava.java"
   "src/main/java/org/ros2/rcljava/Subscription.java"
-  "src/main/java/org/ros2/rcljava/Consumer.java"
 )
 
 add_jar("${PROJECT_NAME}_jar"
@@ -97,21 +95,50 @@ add_jar("${PROJECT_NAME}_jar"
 
 call_for_each_rmw_implementation(target)
 
-if(AMENT_ENABLE_TESTING)
+set(_install_jar_dir "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}")
+get_property(_jar_file TARGET "${PROJECT_NAME}_jar" PROPERTY "JAR_FILE")
+
+install_jar("${PROJECT_NAME}_jar" "share/${PROJECT_NAME}/java")
+ament_export_jars("share/${PROJECT_NAME}/java/${PROJECT_NAME}.jar")
+
+if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
-  ament_add_nose_test(rcljavatests test
-    WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
+  set(${PROJECT_NAME}_test_sources
+    "src/test/java/org/ros2/rcljava/NodeTest.java"
+    "src/test/java/org/ros2/rcljava/PublisherTest.java"
+    "src/test/java/org/ros2/rcljava/RCLJavaTest.java"
+    "src/test/java/org/ros2/rcljava/SubscriptionTest.java"
+  )
+
+  set(${PROJECT_NAME}_testsuites
+    "org.ros2.rcljava.NodeTest"
+    "org.ros2.rcljava.PublisherTest"
+    "org.ros2.rcljava.RCLJavaTest"
+    "org.ros2.rcljava.SubscriptionTest"
   )
-endif()
 
-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")
+  set(_deps_library_paths "")
+  foreach(_dep_lib ${std_msgs_LIBRARIES})
+    get_filename_component(_dep_dir "${_dep_lib}" DIRECTORY)
+    list(APPEND _deps_library_paths ${_dep_dir})
+  endforeach()
+  list(APPEND _deps_library_paths ${CMAKE_CURRENT_BINARY_DIR})
+
+  foreach(testsuite ${${PROJECT_NAME}_testsuites})
+  add_junit_tests("${PROJECT_NAME}_tests_${testsuite}"
+    "${${PROJECT_NAME}_test_sources}"
+    TESTS
+    "${testsuite}"
+    INCLUDE_JARS
+    "${std_msgs_JARS}"
+    "${_jar_file}"
+    LIBRARY_PATHS
+    "${_deps_library_paths}"
+  )
+  endforeach()
 
-  install_jar("${PROJECT_NAME}_jar" "share/${PROJECT_NAME}/java")
-  ament_export_jars("share/${PROJECT_NAME}/java/${PROJECT_NAME}.jar")
 endif()
 
 ament_package()

rcljava/src/main/cpp/org_ros2_rcljava_Node.h → rcljava/include/org_ros2_rcljava_Node.h

@@ -1,9 +1,23 @@
+// Copyright 2016 Esteve Fernandez <[email protected]>
+//
+// 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.
+
 /* DO NOT EDIT THIS FILE - it is machine generated */
 #include <jni.h>
 /* Header for class org_ros2_rcljava_Node */
 
-#ifndef _Included_org_ros2_rcljava_Node
-#define _Included_org_ros2_rcljava_Node
+#ifndef ORG_ROS2_RCLJAVA_NODE_H_
+#define ORG_ROS2_RCLJAVA_NODE_H_
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -26,4 +40,4 @@ JNIEXPORT jlong JNICALL Java_org_ros2_rcljava_Node_nativeCreateSubscriptionHandl
 #ifdef __cplusplus
 }
 #endif
-#endif
+#endif  // ORG_ROS2_RCLJAVA_NODE_H_

rcljava/include/org_ros2_rcljava_Publisher.h

@@ -0,0 +1,43 @@
+// Copyright 2016 Esteve Fernandez <[email protected]>
+//
+// 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.
+
+/* DO NOT EDIT THIS FILE - it is machine generated */
+#include <jni.h>
+/* Header for class org_ros2_rcljava_Publisher */
+
+#ifndef ORG_ROS2_RCLJAVA_PUBLISHER_H_
+#define ORG_ROS2_RCLJAVA_PUBLISHER_H_
+#ifdef __cplusplus
+extern "C" {
+#endif
+/*
+ * Class:     org_ros2_rcljava_Publisher
+ * Method:    nativePublish
+ * Signature: (JLjava/lang/Object;)
+ */
+JNIEXPORT void JNICALL Java_org_ros2_rcljava_Publisher_nativePublish
+  (JNIEnv *, jclass, jlong, jobject);
+
+/*
+ * Class:     org_ros2_rcljava_Node
+ * Method:    nativeDispose
+ * Signature: (JJ)V
+ */
+JNIEXPORT void JNICALL Java_org_ros2_rcljava_Publisher_nativeDispose
+  (JNIEnv *, jclass, jlong, jlong);
+
+#ifdef __cplusplus
+}
+#endif
+#endif  // ORG_ROS2_RCLJAVA_PUBLISHER_H_

rcljava/src/main/cpp/org_ros2_rcljava_RCLJava.h → rcljava/include/org_ros2_rcljava_RCLJava.h

@@ -1,9 +1,23 @@
+// Copyright 2016 Esteve Fernandez <[email protected]>
+//
+// 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.
+
 /* DO NOT EDIT THIS FILE - it is machine generated */
 #include <jni.h>
 /* Header for class org_ros2_rcljava_RCLJava */
 
-#ifndef _Included_org_ros2_rcljava_RCLJava
-#define _Included_org_ros2_rcljava_RCLJava
+#ifndef ORG_ROS2_RCLJAVA_RCLJAVA_H_
+#define ORG_ROS2_RCLJAVA_RCLJAVA_H_
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -98,4 +112,4 @@ JNIEXPORT void JNICALL Java_org_ros2_rcljava_RCLJava_nativeShutdown
 #ifdef __cplusplus
 }
 #endif
-#endif
+#endif  // ORG_ROS2_RCLJAVA_RCLJAVA_H_

rcljava/package.xml

@@ -8,6 +8,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_export_jars</buildtool_depend>
+  <buildtool_depend>rcljava_common</buildtool_depend>
+
   <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
 
   <exec_depend>rmw_implementation</exec_depend>
@@ -21,32 +23,9 @@
 
   <exec_depend>rcl</exec_depend>
 
-<!--
-  <depend>rmw_implementation</depend>
--->
-<!--
-  <depend>rcl</depend>
--->
-
-<!--
-  <depend>rosidl_cmake</depend>
-  <depend>rosidl_parser</depend>
-
--->
-<!--
-  <exec_depend>rosidl_default_runtime</exec_depend>
-
-  <depend>rmw_implementation</depend>
--->
-
-<!--
-  <test_depend>ament_cmake_nose</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>std_msgs</test_depend>
-  <test_depend>rosidl_generator_java</test_depend>
-  <test_depend>rosidl_typesupport_opensplice_c</test_depend>
--->
 
   <export>
     <build_type>ament_cmake</build_type>