[ros-users] rosjava test

Tue Jul 13 20:00:39 UTC 2010

Alright, so being completely honest, I first looked at what you sent and
thought it was nuts.  However, after getting it to work, it's a much nicer
solution (although it may not look it).

So, back to my original question, where should I be putting the cmake
macros?  For now, until I hear better, I'll put them in the
rosjava/cmake/rosjava.cmake file on my computer.  If they should go
somewhere else, let me know, but since Java isn't fully supported, I figured
it would be better to keep them out of public and private cmake in rosbuild.

If / When I get this to work with ros, I will send out my solution.  For
now, if anyone else wants this, to get JUnit to work from the command line I
just executed the following script:

#!/bin/bash
#Usage: junit.sh <class path> <test case class file>

if [ -z "$ANT_HOME" -o ! -d "$ANT_HOME" ] ; then
  if [ -d /usr/share/ant ] ; then
     ANT_HOME=/usr/share/ant
  fi
fi

# set ANT_LIB location
ANT_LIB="${ANT_HOME}/lib"

# set the classes for the test case runner and xml format
RUNNER=org.apache.tools.ant.taskdefs.optional.junit.JUnitTestRunner
FORMAT=org.apache.tools.ant.taskdefs.optional.junit.XMLJUnitResultFormatter

# make sure rosjava is on the classpath
ROS_JAVA=`rospack find rosjava`/bin

# the class path requires the ant jar for exceptions
export
CLASSPATH=$CLASSPATH:$ROS_JAVA:$ANT_LIB/ant.jar:$ANT_LIB/ant-junit.jar:$ANT_LIB/junit4.jar:$1

java $RUNNER $2 formatter=$FORMAT

As an example, one could execute:   ./junit.sh . pkg.to.class.ClassNameTest

Aaron Holroyd
B.S. Computer Science and Robotics Engineering
WPI M.S. CS 2011
http://users.wpi.edu/~aholroyd

On Tue, Jul 13, 2010 at 14:19, Ken Conley <kwc at willowgarage.com> wrote:

> You shouldn't have to use the ant command-line tool. Instead, you
> should just be able to use Ant's classes to generate the XML files
> (the XML format is actually an Ant Junit format).
>
> The class you probably want is:
>
> org.apache.tools.ant.taskdefs.optional.junit.XMLJUnitResultFormatter
>
> You can probably plug this in as a formatter of:
>
> org.apache.tools.ant.taskdefs.optional.junit.JUnitTestRunner
>
> though that's just from scanning the source code; I haven't tried this
> myself yet.
>
> Both JUnit and Ant are open-source projects, so it should be fairly
> easy to orchestrate the desired behavior.
>
> Hope this helps,
> Ken
>
> On Tue, Jul 13, 2010 at 9:09 AM, Aaron Holroyd <aholroyd at wpi.edu> wrote:
> > Hi again,
> > I have some updates about the JUnit testing from below.
> > After some searching, and talking to someone who works closely with
> JUnit,
> > I've found that I can not export an XML report directly from a JUnit
> call.
> >  Instead I have to call ant and export it from there.
> > This gives me 2 questions:
> > 1) In order to write this I would have to invoke ant with a premade ant
> file
> > which takes as arguments the classes to test.  This itself is not hard,
> but
> > does this sound like a good solution? I would just have to add an ant
> build
> > file to a known directory.
> > 2) If I write this and create a patch, is it ok to add ant to the
> > dependencies list for ros, or just for rosjava, or where would this go?
> >  Which leads to  should this be written in the rosjava CMake file, or in
> the
> > main public / private cmake files in rosbuild?
> > I also, probably, will need help eventually with the CMake files, but
> I'll
> > try them on my own first.  I simply have never written CMake, before I
> > started using ROS.
> > Thanks again,
> > Aaron Holroyd
> > B.S. Computer Science and Robotics Engineering
> > WPI M.S. CS 2011
> > http://users.wpi.edu/~aholroyd
> >
> >
> > On Tue, Jul 6, 2010 at 16:20, Aaron Holroyd <aholroyd at wpi.edu> wrote:
> >>
> >> I'll take a look at how to add Java JUnit testing to the rosbuild cmake
> >> files first.  Whether I get it to work or not, I'll let you know how it
> >> goes.
> >>
> >> As for rostest, I had seen this, but I noticed that it is for C++ and
> >> Python only.  Once I get CMake JUnit testing  to work the rostest should
> be
> >> fairly straight forward.
> >> Aaron Holroyd
> >> B.S. Computer Science and Robotics Engineering
> >> WPI M.S. CS 2011
> >> http://users.wpi.edu/~aholroyd
> >>
> >>
> >> On Tue, Jul 6, 2010 at 14:04, Brian Gerkey <gerkey at willowgarage.com>
> >> wrote:
> >>>
> >>> On Tue, Jul 6, 2010 at 7:12 AM, Aaron Holroyd <aholroyd at wpi.edu>
> wrote:
> >>> > I would like to start writing some test cases for rosjava code I have
> >>> > written.  Unfortunately, I can't seem to figure out how this should
> be
> >>> > done
> >>> > with ROS.
> >>> > I've been using Eclipse for my development, and I could continue to
> >>> > just use
> >>> > it's built in testing environment.  The only problem with this is
> that
> >>> > when
> >>> > the code is released, the test cases won't work.  Are there any other
> >>> > suggestions, or a preferred way to do this?
> >>>
> >>> hi Aaron,
> >>>
> >>> I don't know enough about Eclipse to give a recommendation there, but
> >>> there are two ways that you can test your code at the command-line:
> >>>
> >>> (1) Use rostest (http://www.ros.org/wiki/rostest).  It allows you to
> >>> bring up a ROS network, then use a program to run tests against that
> >>> network.
> >>>
> >>> (2) Write standalone unit tests.  The ROS build system has support for
> >>> running C/C++ (gtest) and Python (pyunit) tests.  We don't yet have
> >>> support for Java, which I guess would use JUnit.  It should be easy to
> >>> add support.  Look in rosbuild/public.cmake and rosbuild/private.cmake
> >>> for how it's done for the other languages.  Essentially, you need to
> >>> know the command-line that's required to invoke your compiled test
> >>> program, including redirection of test results to a particular
> >>> location.  I can help with the CMake integration if you want.
> >>>
> >>> Note that, for (1), if you want to write the test program itself in
> >>> Java, then you'll also need the new JUnit support described in (2)
> >>> (you could write test programs in Python or C++ using the current
> >>> infrastructure).
> >>>
> >>>        brian.
> >>
> >
> >
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