Fix test

ros2java-alfred · May 2, 2018 · 730e3c3 · 730e3c3
1 parent 0f1357b
commit 730e3c3
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Showing 6 changed files with 33 additions and 5 deletions.
diff --git a/rcljava/src/main/java/org/ros2/rcljava/executor/BaseThreadedExecutor.java b/rcljava/src/main/java/org/ros2/rcljava/executor/BaseThreadedExecutor.java
@@ -21,9 +21,13 @@
 
 import org.ros2.rcljava.RCLJava;
 import org.ros2.rcljava.node.Node;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 
 public abstract class BaseThreadedExecutor implements ThreadedExecutor {
 
+    private static final Logger logger = LoggerFactory.getLogger(BaseThreadedExecutor.class);
+
     protected final Object mutex = new Object();
     protected final NativeExecutor baseExecutor;
     protected volatile ExecutorService executorService;
@@ -42,6 +46,7 @@ public void addNode(final Node node) {
     @Override
     public void addNode(final Node node, final boolean notify) {
         if (!this.nodes.contains(node)) {
+            logger.debug("Add node : " + node.getName());
             this.nodes.add(node);
 
 //            if (notify) {
@@ -58,6 +63,7 @@ public void removeNode(final Node node) {
     @Override
     public void removeNode(final Node node, final boolean notify) {
         if (this.nodes.contains(node)) {
+            logger.debug("Remove node : " + node.getName());
             this.nodes.remove(node);
 
 //            if (notify) {
@@ -108,6 +114,8 @@ public void spinNodeSome(final Node node) {
 
     @Override
     public void run() {
+        logger.debug("Starting Executor.");
+
         while (RCLJava.ok()) {
             this.spinOnce(0);
         }

diff --git a/rcljava/src/main/java/org/ros2/rcljava/executor/MemoryStrategy.java b/rcljava/src/main/java/org/ros2/rcljava/executor/MemoryStrategy.java
@@ -38,7 +38,6 @@ public void clearHandles() {
         this.clientHandles.clear();
     }
 
-
     public boolean collectEntities(final BlockingQueue<Node> nodes) {
         for (final Node node : nodes) {
             for (final Subscription<?> subscription : node.getSubscriptions()) {

diff --git a/rcljava/src/main/java/org/ros2/rcljava/executor/MultiThreadedExecutor.java b/rcljava/src/main/java/org/ros2/rcljava/executor/MultiThreadedExecutor.java
@@ -18,12 +18,17 @@
 import java.util.concurrent.Executors;
 import java.util.concurrent.TimeUnit;
 
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
 /**
  * Pool-multiple-threaded executor implementation
  * This is the default executor created by {@link RCLJava::spin}.
  */
 public final class MultiThreadedExecutor extends BaseThreadedExecutor {
 
+    private static final Logger logger = LoggerFactory.getLogger(MultiThreadedExecutor.class);
+
     private int numberOfThreads;
 
     /**
@@ -38,6 +43,9 @@ public MultiThreadedExecutor() {
      */
     public MultiThreadedExecutor(final int numberOfThreads) {
         super();
+
+        logger.debug("Initialized Executor.");
+
         if (numberOfThreads == 0) {
             this.numberOfThreads = 1;
         } else {

diff --git a/rcljava/src/main/java/org/ros2/rcljava/executor/SingleThreadedExecutor.java b/rcljava/src/main/java/org/ros2/rcljava/executor/SingleThreadedExecutor.java
@@ -17,17 +17,25 @@
 
 import java.util.concurrent.Executors;
 
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
 /**
  * Single-threaded executor implementation
  * This is the default executor created by {@link RCLJava::spin}.
  */
 public final class SingleThreadedExecutor extends BaseThreadedExecutor {
 
+    private static final Logger logger = LoggerFactory.getLogger(SingleThreadedExecutor.class);
+
     /**
      * Default constructor. See the default constructor for Executor.
      */
     public SingleThreadedExecutor() {
         super();
+
+        logger.debug("Initialized Executor.");
+
         this.executorService = Executors.newSingleThreadExecutor();
     }
 

diff --git a/rcljava/src/test/java/org/ros2/rcljava/AbstractRosTest.java b/rcljava/src/test/java/org/ros2/rcljava/AbstractRosTest.java
@@ -42,6 +42,11 @@ public void setUp() {
     @After
     public void tearDown() {
         this.releaseRCLjava();
+        try {
+            Thread.sleep(1000);
+        } catch (InterruptedException e) {
+            e.printStackTrace();
+        }
     }
 
     protected void initRCLjava() {

diff --git a/rcljava/src/test/java/org/ros2/rcljava/node/NodeTest.java b/rcljava/src/test/java/org/ros2/rcljava/node/NodeTest.java
@@ -20,7 +20,6 @@
 import java.util.Map;
 import java.util.List;
 import java.util.Map.Entry;
-import java.util.concurrent.ExecutionException;
 
 import org.junit.After;
 import org.junit.Assert;
@@ -121,19 +120,20 @@ public void testGetNodeName() {
     }
 
     @Test
-    public final void testPubSub() throws InterruptedException, ExecutionException, Exception {
+    public final void testPubSub() throws Exception {
         logger.debug(new Object(){}.getClass().getEnclosingMethod().getName());
 
         this.initRCLjava();
         final NativeNode node = (NativeNode) RCLJava.createNode("test_node");
         Assert.assertNotEquals(0, node.getNodeHandle());
 
-        Publisher<std_msgs.msg.String> publisher = node.<std_msgs.msg.String>createPublisher(std_msgs.msg.String.class,
+        final Publisher<std_msgs.msg.String> publisher = node.<std_msgs.msg.String>createPublisher(
+                std_msgs.msg.String.class,
                 "test_topic");
 
         final RCLFuture<std_msgs.msg.String> future = new RCLFuture<std_msgs.msg.String>(new WeakReference<Node>(node));
 
-        Subscription<std_msgs.msg.String> subscription = node.<std_msgs.msg.String>createSubscription(
+        final Subscription<std_msgs.msg.String> subscription = node.<std_msgs.msg.String>createSubscription(
                 std_msgs.msg.String.class, "test_topic", new TestConsumer<std_msgs.msg.String>(future));
 
         final std_msgs.msg.String msg = new std_msgs.msg.String();