Merge pull request Intermodalics#64 from Intermodalics/feature/add_un…

…it_test

Feature/add unit test

.gitignore

@@ -44,4 +44,3 @@
 ######################
 *OpenCV_sdk_native/
 *roscpp_android_ndk/
-*miniglog/

.gitmodules

@@ -0,0 +1,9 @@
+[submodule "miniglog"]
+	path = miniglog
+	url = https://github.com/tzutalin/miniglog
+[submodule "third_party/glog_catkin"]
+	path = third_party/glog_catkin
+	url = https://github.com/ethz-asl/glog_catkin
+[submodule "third_party/catkin_simple"]
+	path = third_party/catkin_simple
+	url = https://github.com/catkin/catkin_simple

TangoxRos/README.md → RosApp/README.md

@@ -18,15 +18,14 @@
 ### Miniglog
 
 * From the TangoApps repository:  
-```$ git clone https://github.com/tzutalin/miniglog.git```  
 ```$ cd miniglog```  
 ```$ ./build.sh```  
 
 ### Building the app with android studio
 
 * Download Android Studio (version 2.2 seems to not work properly with this project, you can download previous versions [here](http://tools.android.com/system/app/pages/subPages?path=/download/studio/builds)).
 
-* When starting Android Studio import the project by selecting the TangoxRos directory.
+* When starting Android Studio import the project by selecting the RosApp directory.
 
 * In your local.properties file check that the paths to your android sdk and ndk are set properly.  
 Example:  
@@ -45,4 +44,4 @@ sdk.dir=/opt/android-sdk-linux
 
 * Enter the ros master URI when the application is asking and press connect.
 
-* Open rviz with the config file located at TangoxRos/tango_ros.rviz to visualize the different tango data (device pose, point cloud, image).
+* Open rviz with the config file located at RosApp/tango_ros.rviz to visualize the different tango data (device pose, point cloud, image).

TangoxRos/app/src/main/java/eu/intermodalics/tangoxros/JNIInterface.java → RosApp/app/src/main/java/eu/intermodalics/tangoxros/JNIInterface.java

@@ -36,14 +36,14 @@ public class JNIInterface {
      * initRos should always be called before.
      * @param callerActivity the caller activity of this function.
      */
-    public static native void initNode(Activity callerActivity, PublisherConfiguration publisherConfiguration);
+    public static native boolean initNode(Activity callerActivity, PublisherConfiguration publisherConfiguration);
 
     /**
      * Called when the Tango service is connected successfully.
      *
      * @param nativeTangoServiceBinder The native binder object.
      */
-    public static native void onTangoServiceConnected(IBinder nativeTangoServiceBinder);
+    public static native boolean onTangoServiceConnected(IBinder nativeTangoServiceBinder);
 
     /**
      * Disconnects from Tango.

TangoxRos/app/src/main/java/eu/intermodalics/tangoxros/MainActivity.java → RosApp/app/src/main/java/eu/intermodalics/tangoxros/MainActivity.java

@@ -12,8 +12,10 @@
 import android.text.format.Formatter;
 import android.util.Log;
 import android.view.View;
+import android.widget.Button;
 import android.widget.CompoundButton;
 import android.widget.Switch;
+import android.widget.Toast;
 
 public class MainActivity extends Activity implements SetMasterUriDialog.CallbackListener {
     private static final String TAG = MainActivity.class.getSimpleName();
@@ -22,7 +24,7 @@ public class MainActivity extends Activity implements SetMasterUriDialog.Callbac
 
     private JNIInterface mJniInterface;
     private String mMasterUri;
-    private boolean mIsInitialised = false;
+    private boolean mIsNodeInitialised = false;
     private PublisherConfiguration mPublishConfig;
 
     /**
@@ -58,24 +60,18 @@ private void showSetMasterUriDialog() {
         setMasterUriDialog.show(manager, "MatserUriDialog");
     }
 
-    /**
-     * Implements callback for Apply button.
-     */
-    public void applySettings(View view) {
-        onPause();
-        mJniInterface.initNode(this, mPublishConfig);
-        mIsInitialised = true;
-        onResume();
-    }
-
     /**
      * Tango Service connection.
      */
     ServiceConnection mTangoServiceConnection = new ServiceConnection() {
         public void onServiceConnected(ComponentName name, IBinder service) {
             // Synchronization around MainActivity object is to avoid
             // Tango disconnect in the middle of the connecting operation.
-            mJniInterface.onTangoServiceConnected(service);
+            if(!mJniInterface.onTangoServiceConnected(service)) {
+                Log.e(TAG, getResources().getString(R.string.tango_service_error));
+                Toast.makeText(getApplicationContext(), R.string.tango_service_error, Toast.LENGTH_SHORT).show();
+                onDestroy();
+            }
         }
 
         public void onServiceDisconnected(ComponentName name) {
@@ -84,21 +80,38 @@ public void onServiceDisconnected(ComponentName name) {
         }
     };
 
+    public boolean initNode() {
+        if(!mJniInterface.initNode(this, mPublishConfig)) {
+            Log.e(TAG, getResources().getString(R.string.tango_node_error));
+            Toast.makeText(getApplicationContext(), R.string.tango_node_error, Toast.LENGTH_SHORT).show();
+            return false;
+        }
+        return true;
+    }
+
     public void init() {
         if (mMasterUri != null) {
             WifiManager wm = (WifiManager) getSystemService(WIFI_SERVICE);
             String ip_address = Formatter.formatIpAddress(wm.getConnectionInfo().getIpAddress());
             if (mJniInterface.initRos(MASTER_URI_PREFIX + mMasterUri, IP_PREFIX + ip_address)) {
-                mJniInterface.initNode(this, mPublishConfig);
-                mIsInitialised = true;
+                mIsNodeInitialised = initNode();
             } else {
-                Log.e(TAG, "Unable to init ROS!");
+                Log.e(TAG, getResources().getString(R.string.tango_ros_error));
+                Toast.makeText(getApplicationContext(), R.string.tango_ros_error, Toast.LENGTH_SHORT).show();
             }
         } else {
             Log.e(TAG, "Master URI is null");
         }
     }
 
+    public void applySettings() {
+        onPause();
+        mIsNodeInitialised = initNode();
+        if (mIsNodeInitialised) {
+            onResume();
+        }
+    }
+
     @Override
     protected void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
@@ -113,7 +126,7 @@ public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                     Log.i(TAG, "Publish device pose is switched on");
                 } else {
                     mPublishConfig.publishDevicePose = false;
-                    Log.i(TAG, "Publish device pose i switched off");
+                    Log.i(TAG, "Publish device pose is switched off");
                 }
             }
         });
@@ -157,14 +170,22 @@ public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                 }
             }
         });
+        // Set callback for apply button.
+        Button buttonApply = (Button)findViewById(R.id.apply);
+        buttonApply.setOnClickListener(new View.OnClickListener() {
+            @Override
+            public void onClick(View v){
+                applySettings();
+            }
+        });
         // Request master URI from user.
         showSetMasterUriDialog();
     }
 
     @Override
     protected void onResume() {
         super.onResume();
-        if (mIsInitialised) {
+        if (mIsNodeInitialised) {
             TangoInitializationHelper.bindTangoService(this, mTangoServiceConnection);
             new Thread(new Runnable() {
                 @Override
@@ -180,7 +201,7 @@ public void run() {
     @Override
     protected void onPause() {
         super.onPause();
-        if (mIsInitialised) {
+        if (mIsNodeInitialised) {
             mJniInterface.tangoDisconnect();
             unbindService(mTangoServiceConnection);
         }

TangoxRos/app/src/main/jni/Android.mk → RosApp/app/src/main/jni/Android.mk

@@ -3,17 +3,24 @@ PROJECT_ROOT_FROM_JNI:= ../../../..
 PROJECT_ROOT:= $(call my-dir)/../../../..
 
 include $(CLEAR_VARS)
-
 LOCAL_MODULE    := tango_ros_android
 LOCAL_SRC_FILES := jni_interface.cc
-LOCAL_C_INCLUDES += $(LOCAL_PATH)/include
 LOCAL_CFLAGS  += -g3 -ggdb --std=c++11 -pthread -fPIC -fexceptions -frtti
 LOCAL_LDLIBS += -landroid -lm -llog
 LOCAL_STATIC_LIBRARIES += roscpp_android_ndk
 LOCAL_SHARED_LIBRARIES := tango_client_api tango_support_api tango_ros_native
 include $(BUILD_SHARED_LIBRARY)
 
-$(call import-add-path, $(PROJECT_ROOT)/../tango_ros_catkin/src)
+include $(CLEAR_VARS)
+LOCAL_MODULE := test_tango_ros_native
+LOCAL_SRC_FILES := test/test_tango_ros_api.cc
+LOCAL_CFLAGS  += -g3 -ggdb --std=c++11 -pthread -fPIC -fexceptions -frtti
+LOCAL_STATIC_LIBRARIES += roscpp_android_ndk googletest_main
+LOCAL_SHARED_LIBRARIES := tango_client_api tango_support_api tango_ros_native
+include $(BUILD_EXECUTABLE)
+
+$(call import-add-path, $(PROJECT_ROOT)/../tango_ros_common)
 $(call import-module,tango_ros_native)
+$(call import-module,third_party/googletest)
 
 

TangoxRos/app/src/main/jni/jni_interface.cc → RosApp/app/src/main/jni/jni_interface.cc

@@ -53,20 +53,20 @@ Java_eu_intermodalics_tangoxros_JNIInterface_isRosOk(JNIEnv* env, jobject /*obj*
   return tango_ros_util::IsRosOK();
 }
 
-JNIEXPORT void JNICALL
+JNIEXPORT jboolean JNICALL
 Java_eu_intermodalics_tangoxros_JNIInterface_initNode(JNIEnv* env, jobject /*obj*/, jobject activity,
     jobject jpublisherConfiguration) {
   tango_ros_node::PublisherConfiguration publisher_configuration;
   set_native_publisher_configuration_from_java_publisher_configuration(env, jpublisherConfiguration,
     &publisher_configuration);
   tango_ros.reset(new tango_ros_node::TangoRosNode(publisher_configuration));
-  tango_ros->CheckTangoVersion(env, activity);
+  return tango_ros->IsTangoVersionOk(env, activity);
 }
 
-JNIEXPORT void JNICALL
+JNIEXPORT jboolean JNICALL
 Java_eu_intermodalics_tangoxros_JNIInterface_onTangoServiceConnected(
     JNIEnv* env, jobject /*obj*/, jobject iBinder) {
-  tango_ros->OnTangoServiceConnected(env, iBinder);
+  return tango_ros->SetBinder(env, iBinder) && tango_ros->OnTangoServiceConnected();
 }
 
 JNIEXPORT void JNICALL

RosApp/app/src/main/jni/test/run_test_script.sh

@@ -0,0 +1,28 @@
+#! /bin/bash -x
+adb root
+adb remount
+
+LIB_DIR="$HOME/tango_apps_ws/src/TangoApps/RosApp/app/src/main/libs/armeabi-v7a"
+DEST_DIR="/data/local/tmp"
+MASTER_URI="im-desktop-005:11311"
+DEVICE_IP="192.168.168.185"
+DESKTOP_TEST_DIR="$HOME/tango_apps_ws/devel/lib/tango_ros_native"
+
+# Push libs and test executable to the device.
+adb push $LIB_DIR/libtango_ros_android.so $DEST_DIR/
+adb push $LIB_DIR/libtango_ros_native.so $DEST_DIR/
+adb push $LIB_DIR/libtango_support_api.so $DEST_DIR/
+adb push $LIB_DIR/test_tango_ros_native $DEST_DIR/
+adb shell chmod 775 $DEST_DIR/test_tango_ros_native
+
+# Start the test on device.
+adb shell LD_LIBRARY_PATH=$DEST_DIR $DEST_DIR/test_tango_ros_native __master:=http://$MASTER_URI __ip:=$DEVICE_IP & DEVICE_TEST=&!
+
+# Sleep some time to be sure that the test on device is running.
+sleep 5
+# Start the test on desktop.
+$DESKTOP_TEST_DIR/tango_ros_native_test_tango_ros & DESKTOP_TEST=$!
+
+# Wait till both tests are finished.
+wait $DEVICE_TEST
+wait $DESKTOP_TEST

RosApp/app/src/main/jni/test/test_tango_ros_api.cc

@@ -0,0 +1,63 @@
+// Copyright 2016 Intermodalics All Rights Reserved.
+//
+// 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.
+#include <time.h>
+
+#include <gtest/gtest.h>
+#include <tango_ros_native/tango_ros_node.h>
+#include <tango_ros_native/tango_ros_util.h>
+
+std::string master_uri;
+std::string device_ip;
+
+class TangoRosTest : public ::testing::Test {
+ public:
+  const int TEST_DURATION = 5; // in second.
+  std::shared_ptr<tango_ros_node::TangoRosNode> tango_ros_node_;
+  tango_ros_node::PublisherConfiguration publisher_config_;
+  bool connected_to_tango = false;
+
+ protected:
+  virtual void SetUp() {
+    ASSERT_TRUE(tango_ros_util::InitRos(master_uri.c_str(), device_ip.c_str()));
+    publisher_config_.publish_device_pose = true;
+    publisher_config_.publish_point_cloud = true;
+    publisher_config_.publish_camera = tango_ros_node::CAMERA_FISHEYE | tango_ros_node::CAMERA_COLOR;
+    tango_ros_node_.reset(new tango_ros_node::TangoRosNode(publisher_config_));
+    ASSERT_TRUE(tango_ros_node_->OnTangoServiceConnected());
+    connected_to_tango = true;
+  }
+
+  virtual void TearDown() {
+    if(connected_to_tango) {
+      tango_ros_node_->TangoDisconnect();
+    }
+  }
+};
+
+TEST_F(TangoRosTest, TestPublishingForFixedTime) {
+  time_t current_time = time(NULL);
+  time_t end = current_time + TEST_DURATION;
+  while(tango_ros_util::IsRosOK() && current_time < end) {
+    tango_ros_node_->Publish();
+    current_time = time(NULL);
+  }
+}
+
+// Run all the tests that were declared with TEST()
+int main(int argc, char **argv){
+  testing::InitGoogleTest(&argc, argv);
+  master_uri = argv[1];
+  device_ip = argv[2];
+  return RUN_ALL_TESTS();
+}

TangoxRos/app/src/main/res/layout/main_activity.xml → RosApp/app/src/main/res/layout/main_activity.xml

@@ -42,7 +42,6 @@
             android:layout_height="wrap_content"
             android:layout_alignParentLeft="true"
             android:layout_below="@+id/checkbox_pointcloud"
-            android:text="@string/apply"
-            android:onClick="applySettings" />
+            android:text="@string/apply" />
     </LinearLayout>
 </FrameLayout>

TangoxRos/app/src/main/res/values/strings.xml → RosApp/app/src/main/res/values/strings.xml

@@ -12,4 +12,9 @@
     <string name="publish_fisheye_camera">Publish fisheye camera</string>
     <string name="publish_color_camera">Publish color camera</string>
     <string name="apply">Apply</string>
+
+    <string name="tango_ros_error">Unable to init ROS! Do you have a roscore running?</string>
+    <string name="tango_node_error">Unable to init Tango Ros node. Do you have a correct tango version?</string>
+    <string name="tango_service_error">Unable to connect to Tango Service</string>
+
 </resources>

tango_ros_common/tango_ros_native/Android.mk

@@ -0,0 +1,26 @@
+LOCAL_PATH := $(call my-dir)
+PROJECT_ROOT:= $(call my-dir)/..
+
+include $(CLEAR_VARS)
+
+OPENCV_INSTALL_MODULES:=on
+OPENCV_CAMERA_MODULES:=off
+OPENCV_LIB_TYPE:=STATIC
+include $(PROJECT_ROOT)/../OpenCV_sdk_native/jni/OpenCV.mk
+
+LOCAL_MODULE    := tango_ros_native
+LOCAL_SRC_FILES := $(LOCAL_PATH)/src/tango_ros_node.cpp $(LOCAL_PATH)/src/tango_ros_util.cpp
+LOCAL_C_INCLUDES += $(LOCAL_PATH)/include
+LOCAL_CFLAGS  += -g3 -ggdb --std=c++11 -pthread -fPIC -fexceptions -frtti
+LOCAL_LDLIBS += -landroid -lm -llog
+LOCAL_STATIC_LIBRARIES += roscpp_android_ndk miniglog
+LOCAL_SHARED_LIBRARIES := tango_client_api tango_support_api
+LOCAL_EXPORT_C_INCLUDES := $(LOCAL_PATH)/include
+include $(BUILD_SHARED_LIBRARY)
+
+include $(PROJECT_ROOT)/../miniglog/Android.mk
+$(call import-add-path, $(PROJECT_ROOT)/..)
+$(call import-module,roscpp_android_ndk)
+$(call import-add-path, $(PROJECT_ROOT)/../tango_api)
+$(call import-module,tango_client_api)
+$(call import-module,tango_support_api)