Robotics Service Bus

h1. Installation of RSB Java Implementation

For compilation and installation of the Java implementation, we use the "Ant":http://ant.apache.org/ build tool. 

h2. Dependencies

h3. Dependencies on Externals Libraries and Tools

Required:

* "CMake":http://www.cmake.org/ (tested with CMake version 2.8)

* libprotobuf-java

* ant

* Daemon program of the "Spread group communication system":http://www.spread.org/

Optional:

** javadoc

h3. Dependencies on other RSB Sub-projects

The Java implementation of RSB depends on RSB's language independent network protocol specification. This specification is maintained in the "protocol sub-project of the RSB source tree":https://code.cor-lab.org/projects/rsb/repository/show/trunk/protocol.

Assuming the entire RSB source tree has been checked out into the current directory, the protocol sub-project can be built and installed using the following commands (@$prefix@ has to be replaced with a desired installation prefix):

<pre>

cd protocol/build && cmake .. -DCMAKE_INSTALL_PREFIX=$prefix && make && make install

</pre>

h2. Installation of RSB Core

*After installing the protocol sub-project* (see above)

# Checkout code from Subversion repository (https://code.cor-lab.org/svn/rsb/trunk/java/core)

# Invoke @ant@ supplying build properties on the commandline or via @build.properties@ (see below)

The following properties are used to configure the build:

|_.Ant Property    |_.Meaning                                                       |_.Example                       |

| @env.prefix@     | Location into which RSB should be installed                    | @/vol/cit/share@               |

| @pbuf.protoc@    | Location of protocol buffer compiler (@protoc@ or @protoc.exe@ | @/usr/bin/protoc@              |

| @pbuf.protopath@ | Location of RSB protocol IDL files (see TODO)                  | @/vol/cit/share/rsbprotocol@   |

| @pbuf.lib@       | Location of Java protocol buffer runtime library               | @/usr/share/java/protobuf.jar@ |

| @spread.daemon@  | Location of Spread Daemon Executable                           | @/vol/cit/sbin/spread@         |

All properties can be supplied on the @ant@ commandline using the @-DNAME=VALUE@ syntax or by creating a @build.properties@ file containing lines of the form @NAME = VALUE@.

An exemplary @ant dist@ command, which builds the RSB jar library, may look as follows:

<pre>

ant -Dpbuf.protoc=/usr/bin/protoc -Dpbuf.protopath=/vol/cit/share/rsbprotocol -Dpbuf.lib=/usr/share/java/protobuf.jar -Dspread.daemon=/vol/cit/sbin/spread dist

</pre>

The equivalent @build.properties@ file looks like this:

<pre>

pbuf.protoc = /usr/bin/protoc

pbuf.protopath = /vol/cit/share/rsbprotocol

pbuf.lib = /usr/share/java/protobuf.jar

spread.daemon = /vol/cit/sbin/spread dist

</pre>

In the presence of this file, the @ant@ command reduces to

<pre>

ant dist

</pre>

In order to test your freshly compiled RSBJava version, you may execute the RSBJava test suite. To do so, the following @ant@ target needs to be invoked (please note that a spread daemon is automatically started by the ant script):

<pre>

ant test

</pre>

You should see a console output similar to the following (shortened excerpt):

<pre>

ubi-1-165-178:RSBJava swrede$ ant -Dpbuf.protoc=/opt/local/bin/protoc -Dpbuf.protopath=/vol/cit/share/RSBProtocol -Dpbuf.lib=/opt/local/share/java/protobuf.jar -Dspread.daemon=/vol/cit/sbin/spread test

Buildfile: /Users/swrede/Workspace/RSBJava/build.xml

init:

     [echo] Using pbuf: /opt/local/share/java/protobuf.jar

     [echo] Test report dir: /Users/swrede/Workspace/RSBJava/testreports

protocol:

compile:

    [javac] /Users/swrede/Workspace/RSBJava/build.xml:105: warning: 'includeantruntime' was not set, defaulting to build.sysclasspath=last; set to false for repeatable builds

    [javac] Compiling 1 source file to /Users/swrede/Workspace/RSBJava/build/classes

    [javac] /Users/swrede/Workspace/RSBJava/build.xml:110: warning: 'includeantruntime' was not set, defaulting to build.sysclasspath=last; set to false for repeatable builds

    [javac] Compiling 1 source file to /Users/swrede/Workspace/RSBJava/build/examples

test-compile:

    [javac] Compiling 25 source files to /Users/swrede/Workspace/RSBJava/build/test

test:

    [junit] Running rsb.DefaultErrorHandlerTest

    [junit] Testsuite: rsb.DefaultErrorHandlerTest

    [junit] Tests run: 1, Failures: 0, Errors: 0, Time elapsed: 0,083 sec

    [junit] Tests run: 1, Failures: 0, Errors: 0, Time elapsed: 0,083 sec

    [junit] ------------- Standard Error -----------------

    [junit] 05.09.2011 11:12:38 rsb.DefaultErrorHandler warning

    [junit] SCHWERWIEGEND: A warning was reported to the ErrorHandler: java.lang.RuntimeException: test

    [junit] 05.09.2011 11:12:38 rsb.DefaultErrorHandler error

    [junit] SCHWERWIEGEND: An error was reported to the ErrorHandler: java.lang.RuntimeException: test

    [junit] ------------- ---------------- ---------------

<output of more tests omitted>

    [junit] Running rsb.util.UUIDToolsTest

    [junit] Testsuite: rsb.util.UUIDToolsTest

    [junit] Tests run: 2, Failures: 0, Errors: 0, Time elapsed: 0,164 sec

    [junit] Tests run: 2, Failures: 0, Errors: 0, Time elapsed: 0,164 sec

    [junit] 

    [junit] Testcase: testGetNameBasedUUID took 0,069 sec

    [junit] Testcase: testByteArrayConversion took 0,001 sec

BUILD SUCCESSFUL

Total time: 48 seconds

</pre>

If no failed test cases are reported, RSBJava works correctly on your machine. 

To install RSB jars into the configured prefix (e.g., into @${prefix}/share/java@), the following @ant@ command can be used

<pre>

ant install

</pre>

h2. Installation of RSB-XML

* for rsb-xml, you need to additionally install XOM (available via ubuntu)

* and pass the following parameters to the ant build script

|_.Ant Property    |_.Meaning                             |_.Example                        |

| @pbuf.lib@       | Location of Protobuf Library         | @/usr/share/java/protobuf.jar@  |

| @spread.daemon@  | Location of Spread Daemon Executable | @/vol/cit/sbin/spread@          |

| @xom.lib@        | Location of XOM XML Library          | @/usr/share/java/xom-1.2.1.jar@ |

| @rsb.lib@        | Location of RSB Core Library         | @/vol/cit/share/java/rsb.jar@   |