Fixing tests

Author: rgudwin

build.gradle

@@ -22,7 +22,7 @@ java {
     }
 }
 
-//version = '1.1.0'
+version = '1.1.1'
 
 repositories {
     flatDir {
@@ -117,16 +117,27 @@ publishing {
     }
 }
 
+jacoco {
+    toolVersion = "0.8.10"
+}
+
 jacocoTestReport {
     reports {
         xml.required = true
+        html.outputLocation = layout.buildDirectory.dir('test-coverage')
+        dependsOn test // tests are required to run before generating the report
     }
 }
 
-uberJar {
-    dependsOn jar
-}
 
 test {
+    finalizedBy jacocoTestReport // report is always generated after tests run
+    testLogging {
+        testLogging.showStandardStreams = true
+    }
     useJUnitPlatform()
-}
+}
+
+uberJar {
+    dependsOn jar
+}

src/main/java/br/unicamp/cst/bindings/ros2java/RosTopicPublisherCodelet.java

@@ -27,10 +27,10 @@ public abstract class RosTopicPublisherCodelet<T extends Message> extends Codele
     protected JRos2Client ros2Client;
     protected TopicSubmissionPublisher<T> publisher;
 
-    public RosTopicPublisherCodelet(String topic, Class<T> messageType) {
+    public RosTopicPublisherCodelet(String name, String topic, Class<T> messageType) {
         this.topic = topic;
         this.messageType = messageType;
-        setName("Ros2Publisher:" + topic);
+        setName(name);
     }
 
     @Override

src/main/java/br/unicamp/cst/bindings/ros2java/RosTopicSubscriberCodelet.java

@@ -30,10 +30,10 @@ public abstract class RosTopicSubscriberCodelet<T extends Message> extends Codel
     protected JRos2Client ros2Client;
     protected TopicSubscriber<T> subscriber;
 
-    public RosTopicSubscriberCodelet(String topic, Class<T> messageType) {
+    public RosTopicSubscriberCodelet(String name, String topic, Class<T> messageType) {
         this.topic = topic;
         this.messageType = messageType;
-        setName("Ros2Subscriber:" + topic);
+        setName(name);
     }
 
     @Override

src/main/java/br/unicamp/cst/bindings/rosjava/RosServiceClientCodelet.java

@@ -42,7 +42,7 @@ public abstract class RosServiceClientCodelet<S,T> extends Codelet implements No
 
 	protected String messageServiceType;
 
-	protected Memory motorMemory;
+	protected volatile Memory motorMemory;
 
 	protected S serviceMessageRequest;
 
@@ -115,7 +115,7 @@ private void stopRosNode() {
 	}
 
 	@Override
-	public void accessMemoryObjects() {
+	public synchronized void accessMemoryObjects() {
 		int index = 0;
 
 		if(motorMemory == null)
@@ -132,7 +132,7 @@ public void calculateActivation() {
 	}
 
 	@Override
-	public void proc() {
+	public synchronized void proc() {
 		if(motorMemory != null 
 				&& motorMemory.getI() != null 
 				&& serviceMessageRequest != null 

src/main/java/br/unicamp/cst/bindings/soar/JSoarCodelet.java

@@ -102,7 +102,8 @@ public synchronized Object buildObject(Idea command, String package_with_beans_c
                 type.cast(commandObject);
 
             } catch (Exception e) {
-                e.printStackTrace();
+                //e.printStackTrace();
+                System.out.println("I was not able to find the class "+package_with_beans_classes + "." + commandType);
             }
             for (Idea p : command.getL()) {
                 try {

src/main/java/br/unicamp/cst/bindings/soar/SOARPlugin.java

@@ -617,7 +617,9 @@ public Object createJavaObject(String classname) {
             javaObject = type.newInstance();
             type.cast(javaObject);
         } catch (Exception e) {
-            e.printStackTrace();
+            if (e instanceof java.lang.ClassNotFoundException)
+                System.out.println("SOARPlugin was not able to create an instance of "+classname+" class ... Class Not Found!!");
+            else e.printStackTrace();
         }
         return (javaObject);
     }
@@ -694,7 +696,9 @@ public Object convertObject(Object origin, String className) {
                     return (origin);
             }
         } catch (Exception e){
-            e.printStackTrace();
+            if (e instanceof java.lang.NumberFormatException)
+                System.out.println("SOARPlugin: The conversion of class "+className+" was not successful! ... NumberFormatException");
+            else e.printStackTrace();
             return null;
         }
     }

src/test/java/br/unicamp/cst/bindings/ros2java/ROS2_ChatterTopicPublisher.java

@@ -17,7 +17,7 @@
 public class ROS2_ChatterTopicPublisher extends RosTopicPublisherCodelet<StringMessage> {
 
     public ROS2_ChatterTopicPublisher(String topic) {
-        super(topic, StringMessage.class);
+        super("teste",topic, StringMessage.class);
     }
 
     @Override

src/test/java/br/unicamp/cst/bindings/ros2java/ROS2_ChatterTopicSubscriber.java

@@ -16,7 +16,7 @@
 public class ROS2_ChatterTopicSubscriber extends RosTopicSubscriberCodelet<StringMessage> {
 
     public ROS2_ChatterTopicSubscriber(String topic) {
-        super(topic, StringMessage.class);
+        super("teste",topic, StringMessage.class);
     }
 
     @Override