Merge remote-tracking branch 'pub-sub-repo/ros2-merge' into pub-sub

.github/workflows/build-natives.yml

@@ -0,0 +1,149 @@
+name: Build ihmc-pub-sub natives
+
+on:
+  workflow_dispatch:
+
+jobs:
+  build-linux:
+    runs-on: [ubuntu-20.04]
+    strategy:
+      matrix:
+        platform: [x86_64, arm64]
+      max-parallel: 1
+    steps:
+      - uses: actions/checkout@v4
+      - name: Debug
+        run: |
+          strings /usr/lib/x86_64-linux-gnu/libstdc++.so.6 | grep GLIBCXX
+      - name: Pull repo
+        run: |
+          git reset --hard
+          git pull
+      - name: Install dependencies
+        run: |
+          sudo apt update
+          sudo apt install build-essential g++ gcc-aarch64-linux-gnu binutils-aarch64-linux-gnu g++-aarch64-linux-gnu cmake git swig -y
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: '17'
+      - name: Check Java/Gradle versions
+        run: |
+          java --version
+          gradle --version
+      - name: Compile native library (arm64)
+        if: matrix.platform == 'arm64'
+        run: |
+          LINUX_CROSS_COMPILE_ARM=1 bash cppbuild.bash
+      - name: Compile native library (x86_64)
+        if: matrix.platform == 'x86_64'
+        run: |
+          bash cppbuild.bash
+      - name: Commit generated java and native libraries
+        uses: EndBug/add-and-commit@v9
+        with:
+          add: '*.java *.so *.so.*' # Only commit generated java from Linux
+          author_name: ihmc-rosie
+          author_email: [email protected]
+          message: 'Rebuild natives for Linux'
+          push: true
+  build-windows:
+    runs-on: [windows-2019]
+    needs: [build-linux]
+    steps:
+      - uses: actions/checkout@v4
+      - name: Pull repo
+        run: |
+          git reset --hard
+          git pull
+      - uses: ilammy/msvc-dev-cmd@v1
+        with:
+          vsversion: 2019
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: '17'
+      - name: Check Java/Gradle versions
+        run: |
+          java --version
+          gradle --version
+      - name: Compile native library
+        run: |
+          bash.exe cppbuild.bash
+      - name: Commit native libraries
+        uses: EndBug/add-and-commit@v9
+        with:
+          add: '*.dll' # Only commit generated java from Linux
+          author_name: ihmc-rosie
+          author_email: [email protected]
+          message: 'Rebuild natives for Windows'
+          push: true
+  build-macos-intel:
+    runs-on: [macos-12]
+    needs: [build-windows]
+    strategy:
+      max-parallel: 1
+    steps:
+      - uses: actions/checkout@v4
+      - name: Pull repo
+        run: |
+          git reset --hard
+          git pull
+      - name: Install dependencies
+        run: |
+          brew install coreutils
+          sudo xcode-select --switch /Applications/Xcode_13.1.app
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: '17'
+      - name: Check Java/Gradle versions
+        run: |
+          java --version
+          gradle --version
+      - name: Compile native library (x86_64)
+        run: |
+          bash cppbuild.bash
+      - name: Commit generated java and native libraries
+        uses: EndBug/add-and-commit@v9
+        with:
+          add: '*.dylib *.jnilib' # Only commit generated java from Linux
+          author_name: ihmc-rosie
+          author_email: [email protected]
+          message: 'Rebuild natives for macOS'
+          push: true
+  build-macos-arm:
+    runs-on: [macos-14]
+    needs: [build-macos-intel]
+    strategy:
+      max-parallel: 1
+    steps:
+      - uses: actions/checkout@v4
+      - name: Pull repo
+        run: |
+          git reset --hard
+          git pull
+      - name: Install dependencies
+        run: |
+          brew install coreutils
+          brew install swig
+          sudo xcode-select --switch /Applications/Xcode_14.3.1.app
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: '17'
+      - name: Check Java/Gradle versions
+        run: |
+          java --version
+          gradle --version
+      - name: Compile native library (arm64)
+        run: |
+          bash cppbuild.bash
+      - name: Commit generated java and native libraries
+        uses: EndBug/add-and-commit@v9
+        with:
+          add: '*.dylib *.jnilib' # Only commit generated java from Linux
+          author_name: ihmc-rosie
+          author_email: [email protected]
+          message: 'Rebuild natives for macOS'
+          push: true

.github/workflows/run-gradle-test-all-platforms.yml

@@ -0,0 +1,102 @@
+name: Run Gradle test (all platforms)
+
+on:
+  workflow_dispatch:
+
+jobs:
+  test-linux:
+    runs-on: [ubuntu-20.04]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          lfs: 'false'
+          submodules: 'recursive'
+      - name: LFS checkout
+        run: |
+          git lfs install --local
+          git lfs fetch
+          git lfs pull
+          git lfs ls-files -l
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: '17'
+      - uses: gradle/actions/setup-gradle@v4
+        with:
+          gradle-version: 8.5
+      - name: Run tests
+        run: |
+          patch ihmc-pub-sub/thirdparty/Fast-RTPS/resources/xsd/fastRTPS_profiles.xsd ihmc-pub-sub/patches/fastRTPS_profiles.patch
+          gradle compositeTask --stacktrace --info -PtaskName=test
+  test-windows:
+    runs-on: [windows-2019]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          lfs: 'false'
+          submodules: 'recursive'
+      - name: LFS checkout
+        run: |
+          git lfs install --local
+          git lfs fetch
+          git lfs pull
+          git lfs ls-files -l
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: '17'
+      - uses: gradle/actions/setup-gradle@v4
+        with:
+          gradle-version: 8.5
+      - name: Run tests
+        run: |
+          patch ihmc-pub-sub/thirdparty/Fast-RTPS/resources/xsd/fastRTPS_profiles.xsd ihmc-pub-sub/patches/fastRTPS_profiles.patch
+          gradle compositeTask --stacktrace --info -PtaskName=test
+  test-macos-intel:
+    runs-on: [macos-12] # macos-12 is exclusively x86_64 intel
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          lfs: 'false'
+          submodules: 'recursive'
+      - name: LFS checkout
+        run: |
+          git lfs install --local
+          git lfs fetch
+          git lfs pull
+          git lfs ls-files -l
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: '17'
+      - uses: gradle/actions/setup-gradle@v4
+        with:
+          gradle-version: 8.5
+      - name: Run tests
+        run: |
+          patch ihmc-pub-sub/thirdparty/Fast-RTPS/resources/xsd/fastRTPS_profiles.xsd ihmc-pub-sub/patches/fastRTPS_profiles.patch
+          gradle compositeTask --stacktrace --info -PtaskName=test
+  test-macos-arm:
+    runs-on: [macos-14] # macos-14 runner is exclusively arm64
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          lfs: 'false'
+          submodules: 'recursive'
+      - name: LFS checkout
+        run: |
+          git lfs install --local
+          git lfs fetch
+          git lfs pull
+          git lfs ls-files -l
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: '17'
+      - uses: gradle/actions/setup-gradle@v4
+        with:
+          gradle-version: 8.5
+      - name: Run tests
+        run: |
+          patch ihmc-pub-sub/thirdparty/Fast-RTPS/resources/xsd/fastRTPS_profiles.xsd ihmc-pub-sub/patches/fastRTPS_profiles.patch
+          gradle compositeTask --stacktrace --info -PtaskName=test

.github/workflows/run-gradle-test-linux-self-hosted.yml

@@ -0,0 +1,41 @@
+name: Run Gradle test (Linux, self-hosted)
+
+on:
+  push:
+    branches: ["develop"]
+  pull_request:
+    branches: ["develop"]
+  workflow_dispatch:
+
+jobs:
+  test-linux:
+    runs-on: [self-hosted, Linux]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          lfs: 'false'
+          submodules: 'recursive'
+      - name: LFS checkout
+        run: |
+          git lfs install --local
+          git lfs fetch
+          git lfs pull
+          git lfs ls-files -l
+      - uses: actions/setup-java@v4
+        with:
+          distribution: 'temurin'
+          java-version: '17'
+      - uses: gradle/actions/setup-gradle@v4
+        with:
+          gradle-version: 8.5
+      - name: Run tests
+        run: |
+          gradle compositeTask -PtaskName=compileJava || true
+          gradle compositeTask -PtaskName=compileJava
+          gradle compositeTask -PtaskName=test --info --stacktrace --no-daemon -PrunningOnCIServer=true
+      - name: Publish Test Report - ${{ inputs.test-category }}
+        uses: mikepenz/action-junit-report@v4
+        if: success() || failure() # always run even if the previous step fails
+        with:
+          report_paths: '**/build/test-results/test/TEST-*.xml'
+          detailed_summary: true

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "ihmc-pub-sub/thirdparty/Fast-RTPS"]
+	path = ihmc-pub-sub/thirdparty/Fast-RTPS
+	url = https://github.com/eProsima/Fast-RTPS.git
+[submodule "ihmc-pub-sub/thirdparty/foonathan_memory_vendor"]
+	path = ihmc-pub-sub/thirdparty/foonathan_memory_vendor
+	url = https://github.com/eProsima/foonathan_memory_vendor

cppbuild.bash

@@ -0,0 +1,37 @@
+#!/bin/bash
+# This build script is designed to work on Linux and Windows. For Windows, run from a bash shell launched with launchBashWindows.bat
+
+REPO_ROOT=$(pwd)
+BUILD_ROOT=$REPO_ROOT/ihmc-pub-sub/buildc
+
+rm -rf $BUILD_ROOT # Optional clean
+mkdir -p $BUILD_ROOT
+
+#### Update git submodules ####
+git submodule update --init --recursive
+cd $REPO_ROOT/ihmc-pub-sub/thirdparty/Fast-RTPS
+git reset --hard
+cd $REPO_ROOT
+
+#### Apply patches ####
+patch $REPO_ROOT/ihmc-pub-sub/thirdparty/Fast-RTPS/resources/xsd/fastRTPS_profiles.xsd $REPO_ROOT/ihmc-pub-sub/patches/fastRTPS_profiles.patch
+
+#### Building FastDDS, ihmc-pub-sub natives ####
+cd $BUILD_ROOT
+if [ "$MAC_CROSS_COMPILE_ARM" == "1" ]; then
+  cmake -DCMAKE_BUILD_TYPE=Release \
+        -DSTANDALONE_PLUGIN=ON \
+        -DCMAKE_TOOLCHAIN_FILE=../macos-aarch64-toolchain.cmake \
+        ..
+elif [ "$LINUX_CROSS_COMPILE_ARM" == "1" ]; then
+  cmake -DCMAKE_BUILD_TYPE=Release \
+        -DSTANDALONE_PLUGIN=ON \
+        -DCMAKE_TOOLCHAIN_FILE=../linux-aarch64-toolchain.cmake \
+        ..
+else
+  cmake -DCMAKE_BUILD_TYPE=Release \
+        -DSTANDALONE_PLUGIN=ON \
+        ..
+fi
+cmake --build . --config Release --target install
+cd $REPO_ROOT

eprosima-idl-parser/.gitignore

@@ -0,0 +1,32 @@
+# Backup GVim files.
+*~
+# Temporaly GVim files.
+*.swp
+# Visual Studio user configuration files.
+*.vcxproj.user
+*.sdf
+*.opensdf
+*.suo
+# Visual Studio build directories.
+Debug*/
+Release*/
+ipch/
+objs/
+output/
+bin/
+# Lib directory
+lib/
+# Tags info
+tags
+cscope.out
+# Compiled python objects
+*.pyc
+
+#### Project files ####
+
+/target/
+/build
+/.gradle
+.idea
+*.iml
+/out