Carl D. Crane III

26 papers A 1C 1Journal 15Unranked 8
YearRankTypeTitle / Venue / Authors
2020 J jnl
IEEE Trans. Ind. Informatics
Arman Sargolzaei, Kasra Yazdani, Alireza Abbaspour, Carl D. Crane III, Warren E. Dixon
2015 J jnl
CoRR
Alan J. Hamlet, Carl D. Crane III
2014 A conf
IROS
Alan J. Hamlet, Patrick Emami, Carl D. Crane III
2014 J jnl
CoRR
Alan J. Hamlet, Carl D. Crane III
2012 conf
ARK
Rafael E. Vásquez, Carl D. Crane III, Julio C. Correa
2010 conf
Humanoids
Vishesh Vikas, Carl D. Crane III
2009 ch.
Encyclopedia of Complexity and Systems Science
Robert Touchton, Carl D. Crane III
2008 C conf
CCA
Ashwin P. Dani, Steven J. Velat, Carl D. Crane III, Nicholas R. Gans, Warren E. Dixon
2007 conf
CIRA
Erica Z. MacArthur, Carl D. Crane III
2007 J jnl
J. Aerosp. Comput. Inf. Commun.
Carl D. Crane III, David G. Armstrong II, Antonio A. Arroyo, Antoin Baker, Doug Dankel, Greg Garcia, Nicholas Johnson, Jaesang Lee, Shannon C. Ridgeway, Eric M. Schwartz, Eric Thorn, Steven J. Velat, Ji Hyun Yoon, John Washburn
2007 conf
CIRA
Carl D. Crane III
2007 conf
CIRA
Donald K. MacArthur, Carl D. Crane III
2007 conf
CIRA
Steven J. Velat, Jaesang Lee, Nicholas Johnson, Carl D. Crane III
2006 J jnl
Computer
Robert Touchton, Tom Galluzzo, Danny Kent, Carl D. Crane III
2006 conf
ARK
Hyun K. Jung, Carl D. Crane III, Rodney G. Roberts
2006 J jnl
J. Field Robotics
Carl D. Crane III, David G. Armstrong II, Robert Touchton, Tom Galluzzo, Sanjay Solanki, Jaesang Lee, Daniel Kent, Maryum Ahmed, Roberto Montane, Shannon C. Ridgeway, Steven J. Velat, Greg Garcia, Michael Griffis, Sarah Gray, John Washburn, Gregory Rou
2004 J jnl
J. Field Robotics
Jeff Wit, Carl D. Crane III, David G. Armstrong II
2003 J jnl
J. Field Robotics
Carl D. Crane III, Joseph Duffy
2003 J jnl
J. Field Robotics
Carl D. Crane III, Harvey Lipkin
2003 J jnl
J. Field Robotics
Carl D. Crane III, Harvey Lipkin
1998 J jnl
J. Field Robotics
Yu Zhang, Carl D. Crane III, Joseph Duffy
1997 conf
Mobile Robots
Arturo L. Rankin, Carl D. Crane III, David G. Armstrong II
1994 J jnl
Adv. Robotics
Shannon C. Ridgeway, Phillip D. Adsit, Carl D. Crane III
1992 J jnl
J. Field Robotics
Carl D. Crane III, Tim Carnahan, Joseph Duffy
1991 J jnl
J. Field Robotics
Carl D. Crane III, Joseph Duffy, Tim Carnahan
1991 J jnl
J. Field Robotics
Yong J. Choi, Carl D. Crane III, Gary K. Matthew
tests/unit/test_apk_jadx_wrapper.py
← Index tests/unit/test_apk_jadx_wrapper.py python
"""
Unit tests for JADX wrapper subprocess management and output parsing.

All subprocess calls are mocked — no JADX/Java installation required.
"""
import os
import tempfile
import textwrap

import pytest
from unittest.mock import MagicMock, patch, call

pytestmark = [pytest.mark.unit, pytest.mark.apk, pytest.mark.decompile]


class TestJADXDecompiler:
    """Tests for JADXDecompiler subprocess wrapper."""

    @patch.dict(os.environ, {}, clear=False)
    def test_init_defaults(self):
        os.environ.pop("JADX_PATH", None)
        from redb.extractors.decompiler.apk.jadx_wrapper import JADXDecompiler
        j = JADXDecompiler()
        assert j.jadx_path == "jadx"
        assert j.timeout == 300

    def test_init_custom_path(self):
        from redb.extractors.decompiler.apk.jadx_wrapper import JADXDecompiler
        j = JADXDecompiler(jadx_path="/usr/local/bin/jadx", timeout=300)
        assert j.jadx_path == "/usr/local/bin/jadx"
        assert j.timeout == 300

    def test_init_from_env(self):
        from redb.extractors.decompiler.apk.jadx_wrapper import JADXDecompiler
        with patch.dict(os.environ, {"JADX_PATH": "/opt/jadx/bin/jadx", "JADX_TIMEOUT": "120"}):
            j = JADXDecompiler()
            assert j.jadx_path == "/opt/jadx/bin/jadx"
            assert j.timeout == 120

    @patch("subprocess.Popen")
    def test_decompile_success(self, mock_popen):
        from redb.extractors.decompiler.apk.jadx_wrapper import JADXDecompiler
        mock_proc = MagicMock()
        mock_proc.communicate.return_value = ("output", "")
        mock_proc.returncode = 0
        mock_popen.return_value = mock_proc

        j = JADXDecompiler()
        result = j.decompile("/test.apk", "/output")
        assert result is True

    @patch("subprocess.Popen")
    def test_decompile_nonzero_exit_no_sources(self, mock_popen):
        from redb.extractors.decompiler.apk.jadx_wrapper import JADXDecompiler
        mock_proc = MagicMock()
        mock_proc.communicate.return_value = ("", "error msg")
        mock_proc.returncode = 1
        mock_popen.return_value = mock_proc

        j = JADXDecompiler(log=MagicMock())
        result = j.decompile("/test.apk", "/nonexistent_output")
        assert result is False

    @patch("subprocess.Popen")
    def test_decompile_timeout(self, mock_popen):
        from redb.extractors.decompiler.apk.jadx_wrapper import JADXDecompiler
        import subprocess
        mock_proc = MagicMock()
        mock_proc.communicate.side_effect = subprocess.TimeoutExpired(cmd="jadx", timeout=10)
        mock_proc.pid = 12345
        mock_popen.return_value = mock_proc

        with patch("os.getpgid", return_value=12345), \
             patch("os.killpg"):
            j = JADXDecompiler(timeout=10, log=MagicMock())
            result = j.decompile("/test.apk", "/output")
            assert result is False

    @patch("subprocess.Popen", side_effect=FileNotFoundError)
    def test_decompile_not_found(self, mock_popen):
        from redb.extractors.decompiler.apk.jadx_wrapper import JADXDecompiler
        j = JADXDecompiler(log=MagicMock())
        result = j.decompile("/test.apk", "/output")
        assert result is False

    @patch("subprocess.Popen")
    def test_decompile_command_args(self, mock_popen):
        from redb.extractors.decompiler.apk.jadx_wrapper import JADXDecompiler
        mock_proc = MagicMock()
        mock_proc.communicate.return_value = ("", "")
        mock_proc.returncode = 0
        mock_popen.return_value = mock_proc

        j = JADXDecompiler(jadx_path="/opt/jadx")
        j.decompile("/test.apk", "/output")

        cmd = mock_popen.call_args[0][0]
        assert cmd[0] == "/opt/jadx"
        assert "--no-res" in cmd
        assert "--no-imports" in cmd
        assert "--threads-count" in cmd
        assert "/test.apk" in cmd

    def test_parse_java_methods_empty_dir(self):
        from redb.extractors.decompiler.apk.jadx_wrapper import JADXDecompiler
        j = JADXDecompiler()
        result = j.parse_java_methods("/nonexistent")
        assert result == {}

    def test_parse_java_methods_with_files(self):
        from redb.extractors.decompiler.apk.jadx_wrapper import JADXDecompiler
        with tempfile.TemporaryDirectory() as tmpdir:
            sources_dir = os.path.join(tmpdir, "sources", "com", "example")
            os.makedirs(sources_dir)

            java_content = textwrap.dedent("""\
                package com.example;

                public class MyClass {
                    public void doStuff(int x) {
                        System.out.println(x);
                    }

                    private String getName() {
                        return "test";
                    }
                }
            """)
            with open(os.path.join(sources_dir, "MyClass.java"), "w") as f:
                f.write(java_content)

            j = JADXDecompiler()
            methods = j.parse_java_methods(tmpdir)
            assert len(methods) >= 1

    def test_extract_methods_from_java(self):
        from redb.extractors.decompiler.apk.jadx_wrapper import JADXDecompiler
        source = textwrap.dedent("""\
            public void foo(int x) {
                if (x > 0) {
                    System.out.println(x);
                }
            }
        """)
        j = JADXDecompiler()
        methods = j._extract_methods_from_java(source, "com.example.Test")
        assert len(methods) == 1
        key = list(methods.keys())[0]
        assert "foo" in key

    def test_is_method_declaration_valid(self):
        from redb.extractors.decompiler.apk.jadx_wrapper import JADXDecompiler
        j = JADXDecompiler()
        result = j._is_method_declaration("    public void foo(int x) {")
        assert result is not None
        assert result[0] == "foo"

    def test_is_method_declaration_control_flow(self):
        from redb.extractors.decompiler.apk.jadx_wrapper import JADXDecompiler
        j = JADXDecompiler()
        # 'if', 'for', etc. should not be recognized as methods
        assert j._is_method_declaration("        if (x > 0) {") is None
        assert j._is_method_declaration("        for (int i = 0; i < 10; i++) {") is None

    def test_is_method_declaration_static(self):
        from redb.extractors.decompiler.apk.jadx_wrapper import JADXDecompiler
        j = JADXDecompiler()
        result = j._is_method_declaration("    public static void main(String[] args) {")
        assert result is not None
        assert result[0] == "main"