Add Windows CI

ament_cmake_export_jars/cmake/package_templates/template/environment_hook/javapath.bat.in

@@ -0,0 +1,3 @@
+# generated from ament_package/template/environment_hook/javapath.bat.in
+
+ament_prepend_unique_value JAVAPATH "@JAVAPATH@"

appveyor.yml

@@ -0,0 +1,157 @@
+#---------------------------------#
+#      general configuration      #
+#---------------------------------#
+
+# version format
+version: 0.4.0.{build}
+
+# Do not build on tags (GitHub and BitBucket)
+#skip_tags: true
+
+# Start builds on tags only (GitHub and BitBucket)
+#skip_non_tags: true
+
+# Do not build feature branch with open Pull Requests
+pull_requests:
+  do_not_increment_build_number: true
+
+# Maximum number of concurrent jobs for the project
+#max_jobs: 1
+
+#---------------------------------#
+#    environment configuration    #
+#---------------------------------#
+
+# Build worker image (VM template)
+image: Visual Studio 2017
+#os: Windows Server 2016
+
+# scripts that are called at very beginning, before repo cloning
+init:
+  - git config --global core.autocrlf true
+
+# clone directory
+clone_folder: C:\projects\appveyor\ros2-java
+
+# fetch repository as zip archive
+#shallow_clone: true                 # default is "false"
+
+# set clone depth
+#clone_depth: 5                      # clone entire repository history if not defined
+
+# environment variables
+environment:
+  global:
+    HOME: C:\projects\appveyor
+    HOME_REPO: ${HOME}\ros2-java
+    HOME_BUILD: ${HOME}\build
+    ROS2WS: ${HOME_BUILD}\ros2_java_ws
+    COMMIT: ${APPVEYOR_REPO_COMMIT}
+    PYTHON_PATH: C:\Python36-x64
+    ENV_PATH: ${HOME_BUILD}\.env
+    VisualStudioVersion: 14.0
+
+# already install : git, python, cmake
+install:
+  - SET PATH=%PYTHON_PATH%;%PYTHON_PATH%\Scripts;%path%
+  - cinst patch curl cppcheck wget
+
+
+#---------------------------------#
+#       build configuration       #
+#---------------------------------#
+
+# build platform, i.e. x86, x64, Any CPU. This setting is optional.
+platform: x64
+
+# to add several platforms to build matrix:
+#platform:
+#  - x86
+#  - Any CPU
+
+# build Configuration, i.e. Debug, Release, etc.
+configuration: Debug
+
+build:
+  parallel: true      
+
+# scripts to run before build
+before_build:
+  - dir
+  - .\scripts\appveyor\windows_prepare.bat
+
+# scripts to run *after* solution is built and *before* automatic packaging occurs (web apps, NuGet packages, Azure Cloud Services)
+#before_package:
+
+# scripts to run after build
+#after_build:
+
+# to run your custom scripts instead of automatic MSBuild
+build_script:
+  - .\scripts\appveyor\windows_run.bat
+
+# to disable automatic builds
+#build: off
+
+#---------------------------------#
+#       tests configuration       #
+#---------------------------------#
+
+# to run tests again only selected assemblies and/or categories
+#test:
+
+# scripts to run before tests
+#before_test:
+
+# scripts to run after tests
+#after_test:
+
+# to run your custom scripts instead of automatic tests
+#test_script:
+
+# to disable automatic tests
+test: off
+
+#---------------------------------#
+#        global handlers          #
+#---------------------------------#
+
+# on successful build
+on_success:
+  - .\scripts\appveyor\windows_success.bat
+
+# on build failure
+#on_failure:
+
+# after build failure or success
+#on_finish:
+
+#---------------------------------#
+#         notifications           #
+#---------------------------------#
+
+notifications:
+
+#  # Email
+#  - provider: Email
+#    to:
+#      - user1@email.com
+#      - user2@email.com
+#    subject: 'Build {{status}}'                  # optional
+#    message: "{{message}}, {{commitId}}, ..."    # optional
+#    on_build_status_changed: true
+
+#  # Slack
+#  - provider: Slack
+#    incoming_webhook: http://incoming-webhook-url
+
+  # Webhook
+  - provider: Webhook
+    url: https://webhooks.gitter.im/e/4aac82b42245203edceb
+#    headers:
+#      User-Agent: myapp 1.0
+#      Authorization:
+#        secure: GhD+5xhLz/tkYY6AO3fcfQ==
+    on_build_success: true
+    on_build_failure: true
+    on_build_status_changed: true

rcljava/src/main/java/org/ros2/rcljava/RCLJava.java

@@ -57,8 +57,6 @@ public final class RCLJava {
      */
     private static volatile boolean initialized = false;
 
-    private static String libExtention = ".unknow";
-
     private static String[] arguments;
 
     /**
@@ -182,7 +180,7 @@ private static void displayReport() {
             msgLog.append(key);
             msgLog.append(System.lineSeparator());
         }
-        RCLJava.logger.debug(String.format("Native libraries Loaded: %n", msgLog.toString()));
+        RCLJava.logger.debug(String.format("Native libraries Loaded: %n%s", msgLog.toString()));
         RCLJava.logger.debug(DISPLAY_SEPARATOR);
     }
 
@@ -351,7 +349,7 @@ public static String getTypesupportIdentifier() {
     }
 
     /**
-     * Switch of ROS2 middleware implementation
+     * Switch of ROS2 middle-ware implementation
      *
      * <p>TODO need to check implementation available.</p>
      *

rcljava/src/test/java/org/ros2/rcljava/executor/ExecutorTest.java

@@ -72,12 +72,14 @@ private void processInit(final ThreadedExecutor executor, final String topic)
 
         this.futureOne = new RCLFuture<UInt32>(executor);
         this.subscriptionOne = (NativeSubscription<UInt32>)this.subscriptionNodeOne.<UInt32>createSubscription(
-                UInt32.class, topic,
+                UInt32.class,
+                topic,
                 new TestConsumer<UInt32>(this.futureOne));
 
         this.futureTwo = new RCLFuture<UInt32>(executor);
         this.subscriptionTwo = (NativeSubscription<UInt32>)this.subscriptionNodeTwo.<UInt32>createSubscription(
-                UInt32.class, topic,
+                UInt32.class,
+                topic,
                 new TestConsumer<UInt32>(futureTwo));
 
         this.msg = new UInt32();
@@ -114,15 +116,14 @@ private void processResult(final ThreadedExecutor executor)
     @Test
     public final void testLinkMultipleProcess() {
         logger.debug(new Object(){}.getClass().getEnclosingMethod().getName());
-
         boolean test = true;
 
         try {
             final ThreadedExecutor executor = new MultiThreadedExecutor();
             this.processInit(executor, TEST_TOPIC_MULTI);
 
             while (!(futureOne.isDone() && futureTwo.isDone())) {
-                publisher.publish(msg);
+                publisher.publish(this.msg);
                 executor.spinOnce(-1);
             }
 

scripts/appveyor/windows_prepare.bat

@@ -0,0 +1,55 @@
+CD %HOME%
+
+ECHO. & ECHO "Download components..."
+curl -skL https://github.com/ros2/choco-packages/releases/download/2017-04-04-1/asio.1.10.6.nupkg -o asio.1.10.6.nupkg
+curl -skL https://github.com/ros2/choco-packages/releases/download/2017-04-04-1/eigen.3.3.3.nupkg -o eigen.3.3.3.nupkg
+curl -skL https://github.com/ros2/choco-packages/releases/download/2017-04-04-1/tinyxml-usestl.2.6.2.nupkg -o tinyxml-usestl.2.6.2.nupkg
+curl -skL https://github.com/ros2/choco-packages/releases/download/2017-04-04-1/tinyxml2.4.0.1.nupkg -o tinyxml2.4.0.1.nupkg
+dir
+
+ECHO. & ECHO "Install VCS tools..."
+pip install vcstool
+python.exe -m pip install -U setuptools pip
+python.exe -m pip install catkin_pkg EmPy pyparsing pyyaml
+python.exe -m pip install nose coverage mock pytest pytest-cov pytest-runner
+python.exe -m pip install flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pep8 pydocstyle pyflakes
+
+
+ECHO. & ECHO "Install components..."
+choco install -y -s %HOME% asio eigen tinyxml-usestl tinyxml2
+
+ECHO. & ECHO "Check version..."
+git.exe --version
+python.exe --version
+cmake.exe --version
+
+ECHO. & ECHO "INSTALL/BUILD ROS2 AMENT..."
+MKDIR "%HOME_BUILD%\ament_ws\src"
+CD %HOME_BUILD%\ament_ws
+wget https://gist.githubusercontent.com/Theosakamg/e6084cfafa6b7ea690104424cef970a2/raw/ament_java.repos
+vcs import %HOME_BUILD%\ament_ws\src < ament_java.repos
+python.exe src\ament\ament_tools\scripts\ament.py build
+REM --parallel --symlink-install --isolated
+
+ECHO. & ECHO "INSTALL ROS2 WS..."
+MKDIR "%ROS2WS%\src"
+CD %ROS2WS%
+wget https://gist.githubusercontent.com/Theosakamg/d9259bbc708c5145255fbdeb25e65e19/raw/ros2_java_desktop.repos
+vcs import %ROS2WS%\src < ros2_java_desktop.repos
+
+ECHO. & ECHO "Sync with git trigger"
+RMDIR /Q /S %ROS2WS%\src\ros2_java\ros2_java && MKLINK /D %ROS2WS%\src\ros2_java\ros2_java %HOME_REPO%
+
+ECHO. & ECHO "Patch for Java support."
+CD %ROS2WS%\src\ros2\rosidl_typesupport && patch -p1 < ..\..\ros2_java\ros2_java\rosidl_ros2_android.diff
+
+ECHO. & ECHO "BUILD ROS2 WS..."
+CD %HOME_BUILD%
+CALL "%HOME_BUILD%\ament_ws\install\setup.bat"
+CD %ROS2WS%
+ament build --skip-packages %PKG_EXCLUDE%
+REM --parallel --symlink-install --isolated --ament-gradle-args --parallel --daemon --configure-on-demand
+
+
+
+