[ros-users] rosjava test

Tue Jul 13 20:47:29 UTC 2010

Any new cmake macros should definitely go with rosjava.cmake and not
into rosbuild. I imagine you can submit those as patches to Nicholas.

regards,
Ken

On Tue, Jul 13, 2010 at 1:00 PM, Aaron Holroyd <aholroyd at wpi.edu> wrote:
> 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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