build_and_test.yml

name: CI

on:
  push:
    branches: [main]
  pull_request:
    branches: [main]
    types: [opened, reopened, synchronize]



jobs:
  build_and_test:
    runs-on: ubuntu-20.04
    steps:
    - name: Install Java
      run: |
        sudo apt-get update -qq
        sudo apt-get install -y default-jdk gradle
    - uses: actions/checkout@v2
    - uses: ros-tooling/setup-ros@v0.2
      with:
        required-ros-distributions: galactic
    - uses: ros-tooling/action-ros-ci@v0.2
      with:
        package-name: rosidl_generator_java rcljava_common rcljava
        target-ros2-distro: galactic
        vcs-repo-file-url: ${{ github.workspace }}/ros2_java_desktop.repos

  build_android:
    runs-on: ubuntu-20.04
    strategy:
      fail-fast: false
      matrix:
        include:
          - colcon_meta: |
              {
                "names": {
                  "rcl": {
                    "cmake-args": [ "-DBUILD_TESTING=OFF" ]
                  },
                  "rcl_yaml_param_parser": {
                    "cmake-args": [ "-DBUILD_TESTING=OFF" ]
                  },
                  "rclcpp": {
                    "cmake-args": [ "-DBUILD_TESTING=OFF" ]
                  },
                  "rclcpp_action": {
                    "cmake-args": [ "-DBUILD_TESTING=OFF" ]
                  },
                  "rclcpp_lifecycle": {
                    "cmake-args": [ "-DBUILD_TESTING=OFF" ]
                  },
                  "rcutils": {
                    "cmake-args": [ "-DBUILD_TESTING=OFF" ]
                  },
                  "rosidl_typesupport_c": {
                    "cmake-args": [ "-DBUILD_TESTING=OFF" ]
                  },
                }
              }
    steps:
    - name: Install Java
      run: |
        sudo apt-get update -qq
        sudo apt-get install -y default-jdk gradle
    - uses: actions/checkout@v2
    - name: Setup locale for ROS 2
      run: |
        sudo locale-gen en_US en_US.UTF-8
        sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
        export LANG=en_US.UTF-8
    - name: Setup sources for ROS 2
      run: |
        sudo apt-get update && sudo apt-get install -y curl gnupg2 lsb-release
        curl -sL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
        sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
    - name: Install ROS 2 dependencies
      run: |
        sudo apt-get update && sudo apt-get install -y python3-colcon-common-extensions python3-vcstool python3-lark-parser python3-dev
    - name: Install colcon extensions for Gradle
      run: |
        sudo pip3 install git+https://github.com/colcon/colcon-gradle.git
        sudo pip3 install git+https://github.com/colcon/colcon-ros-gradle.git
    - name: Install Android NDK
      run: |
        curl -LO https://dl.google.com/android/repository/android-ndk-r21d-linux-x86_64.zip
        unzip android-ndk-r21d-linux-x86_64.zip
    - name: Install QEMU emulation binaries
      run: |
        sudo apt-get update && sudo apt-get install -y qemu-user
    - name: Setup workspace with VCS repo file
      run: |
        mkdir -p ros2_java_ws/src
        cd ros2_java_ws
        curl -sL file://${{ github.workspace }}/ros2_java_android.repos | vcs import src
        # Use checked out version of ros2_java
        rm -rf src/ros2-java/ros2_java
        ln --symbolic ${{ github.workspace }} src/ros2-java
    - name: Create colcon defaults file
      run: printf "${{matrix.colcon_meta}}" > ${{ github.workspace }}/colcon.meta
    - name: Build ros2_java for Android
      run: |
        export PYTHON3_EXEC="$( which python3 )"
        export PYTHON3_LIBRARY="$( ${PYTHON3_EXEC} -c 'import os.path; from distutils import sysconfig; print(os.path.realpath(os.path.join(sysconfig.get_config_var("LIBPL"), sysconfig.get_config_var("LDLIBRARY"))))' )"
        export PYTHON3_INCLUDE_DIR="$( ${PYTHON3_EXEC} -c 'from distutils import sysconfig; print(sysconfig.get_config_var("INCLUDEPY"))' )"
        export ANDROID_ABI=armeabi-v7a
        export ANDROID_NATIVE_API_LEVEL=android-21
        export ANDROID_TOOLCHAIN_NAME=arm-linux-androideabi-clang
        export ANDROID_NDK=${PWD}/android-ndk-r21d

        cd ros2_java_ws
        colcon build \
          --packages-ignore cyclonedds rcl_logging_spdlog rcl_logging_log4cxx rosidl_generator_py \
          --packages-up-to rcljava \
          --metas ${{ github.workspace }}/colcon.meta \
          --cmake-args \
          -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop \
          -DPYTHON_EXECUTABLE=${PYTHON3_EXEC} \
          -DPYTHON_LIBRARY=${PYTHON3_LIBRARY} \
          -DPYTHON_INCLUDE_DIR=${PYTHON3_INCLUDE_DIR} \
          -DCMAKE_TOOLCHAIN_FILE=${ANDROID_NDK}/build/cmake/android.toolchain.cmake \
          -DANDROID_FUNCTION_LEVEL_LINKING=OFF \
          -DANDROID_NATIVE_API_LEVEL=${ANDROID_NATIVE_API_LEVEL} \
          -DANDROID_TOOLCHAIN_NAME=${ANDROID_TOOLCHAIN_NAME} \
          -DANDROID_STL=c++_shared \
          -DANDROID_ABI=${ANDROID_ABI} \
          -DANDROID_NDK=${ANDROID_NDK} \
          -DANDROID=ON \
          -DTHIRDPARTY_android-ifaddrs=FORCE \
          -DTHIRDPARTY=ON \
          -DCOMPILE_EXAMPLES=OFF \
          -DCMAKE_FIND_ROOT_PATH="${PWD}/install" \
          -DCMAKE_CROSSCOMPILING_EMULATOR="/usr/bin/qemu-arm"