Galactic update

.github/workflows/build_and_test.yml

@@ -4,24 +4,54 @@ on: [push, pull_request]
 
 jobs:
   build_and_test:
-    runs-on: ubuntu-18.04
+    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@0.2.1
+    - uses: ros-tooling/setup-ros@v0.2
       with:
-        required-ros-distributions: dashing
+        required-ros-distributions: galactic
     - uses: ros-tooling/[email protected]
       with:
         package-name: rosidl_generator_java rcljava_common rcljava
-        target-ros2-distro: dashing
+        target-ros2-distro: galactic
         vcs-repo-file-url: ${{ github.workspace }}/ros2_java_desktop.repos
 
   build_android:
-    runs-on: ubuntu-18.04
+    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: |
@@ -43,20 +73,25 @@ jobs:
         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+git://github.com/colcon/colcon-gradle.git
-        sudo pip3 install git+git://github.com/colcon/colcon-ros-gradle.git
+        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
+        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 )"
@@ -69,9 +104,11 @@ jobs:
 
         cd ros2_java_ws
         colcon build \
-          --packages-ignore cyclonedds rcl_logging_log4cxx rosidl_generator_py \
+          --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} \
@@ -82,6 +119,9 @@ jobs:
           -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="${PWD}/install"
+          -DCMAKE_FIND_ROOT_PATH="${PWD}/install" \
+          -DCMAKE_CROSSCOMPILING_EMULATOR="/usr/bin/qemu-arm"

README.md

@@ -4,7 +4,7 @@
 
 | Target                                    | Status        |
 |-------------------------------------------|---------------|
-| **ROS Dashing - Ubuntu Bionic (OpenJDK)** | ![Build Status](https://github.com/ros2-java/ros2_java/workflows/CI/badge.svg?branch=dashing) |
+| **ROS Galactic - Ubuntu Focal (OpenJDK)** | ![Build Status](https://github.com/ros2-java/ros2_java/workflows/CI/badge.svg?branch=main) |
 
 ## Introduction
 
@@ -86,13 +86,13 @@ Make sure you have Gradle 3.2 (or later) installed.
 
 1. Source your ROS 2 installation, for example:
 
-        source /opt/ros/dashing/setup.bash
+        source /opt/ros/galactic/setup.bash
 
 1. Download the ROS 2 Java repositories into a workspace:
 
         mkdir -p ros2_java_ws/src
         cd ros2_java_ws
-        curl -skL https://raw.githubusercontent.com/ros2-java/ros2_java/dashing/ros2_java_desktop.repos | vcs import src
+        curl -skL https://raw.githubusercontent.com/ros2-java/ros2_java/main/ros2_java_desktop.repos | vcs import src
 
 1. **Linux only** Install ROS dependencies:
 
@@ -127,7 +127,7 @@ Although the `ros2_java_android.repos` file contains all the repositories for th
 
         mkdir -p $HOME/ros2_android_ws/src
         cd $HOME/ros2_android_ws
-        curl https://raw.githubusercontent.com/ros2-java/ros2_java/dashing/ros2_java_android.repos | vcs import src
+        curl https://raw.githubusercontent.com/ros2-java/ros2_java/main/ros2_java_android.repos | vcs import src
 
 1. Set Android build configuration:
 

rcljava/include/org_ros2_rcljava_client_ClientImpl.h

@@ -25,9 +25,9 @@ extern "C" {
  * Method:    nativeSendClientRequest
  * Signature: (JJJJJLorg/ros2/rcljava/interfaces/MessageDefinition;)V
  */
-JNIEXPORT void
+JNIEXPORT jlong
 JNICALL Java_org_ros2_rcljava_client_ClientImpl_nativeSendClientRequest(
-  JNIEnv *, jclass, jlong, jlong, jlong, jlong, jlong, jobject);
+  JNIEnv *, jclass, jlong, jlong, jlong, jlong, jobject);
 
 /*
  * Class:     org_ros2_rcljava_client_ClientImpl

rcljava/package.xml

@@ -22,7 +22,7 @@
   <build_export_depend>builtin_interfaces</build_export_depend>
   <build_export_depend>rcl_interfaces</build_export_depend>
   <build_export_depend>rmw</build_export_depend>
-  <build_export_depend>rosidl_generator_c</build_export_depend>
+  <build_export_depend>rosidl_runtime_c</build_export_depend>
   <build_export_depend>rosidl_generator_java</build_export_depend>
   <build_export_depend>rosidl_typesupport_c</build_export_depend>
 
@@ -31,7 +31,7 @@
   <exec_depend>rcl</exec_depend>
   <exec_depend>rmw_implementation_cmake</exec_depend>
   <exec_depend>rmw_implementation</exec_depend>
-  <exec_depend>rosidl_generator_c</exec_depend>
+  <exec_depend>rosidl_runtime_c</exec_depend>
   <exec_depend>rosidl_parser</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
@@ -41,7 +41,9 @@
   <test_depend>rcljava_common</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
   <test_depend>rmw</test_depend>
-  <test_depend>rosidl_generator_c</test_depend>
+  <test_depend>rosidl_runtime_c</test_depend>
+  <!--TODO(ivanpauno): we need this for some strange reason to make test builds-->
+  <test_depend>rosidl_generator_cpp</test_depend>
   <test_depend>rosidl_generator_java</test_depend>
   <test_depend>std_msgs</test_depend>
 

rcljava/src/main/cpp/org_ros2_rcljava_RCLJava.cpp

@@ -23,7 +23,7 @@
 #include "rcl/rcl.h"
 #include "rcl/timer.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"

rcljava/src/main/cpp/org_ros2_rcljava_client_ClientImpl.cpp

@@ -23,7 +23,7 @@
 #include "rcl/node.h"
 #include "rcl/rcl.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"
@@ -34,9 +34,9 @@ using rcljava_common::exceptions::rcljava_throw_rclexception;
 using rcljava_common::signatures::convert_from_java_signature;
 using rcljava_common::signatures::destroy_ros_message_signature;
 
-JNIEXPORT void JNICALL
+JNIEXPORT jlong JNICALL
 Java_org_ros2_rcljava_client_ClientImpl_nativeSendClientRequest(
-  JNIEnv * env, jclass, jlong client_handle, jlong sequence_number,
+  JNIEnv * env, jclass, jlong client_handle,
   jlong jrequest_from_java_converter_handle, jlong jrequest_to_java_converter_handle,
   jlong jrequest_destructor_handle, jobject jrequest_msg)
 {
@@ -53,6 +53,7 @@ Java_org_ros2_rcljava_client_ClientImpl_nativeSendClientRequest(
 
   void * request_msg = convert_from_java(jrequest_msg, nullptr);
 
+  int64_t sequence_number;
   rcl_ret_t ret = rcl_send_request(client, request_msg, &sequence_number);
 
   destroy_ros_message_signature destroy_ros_message =
@@ -65,6 +66,7 @@ Java_org_ros2_rcljava_client_ClientImpl_nativeSendClientRequest(
     rcl_reset_error();
     rcljava_throw_rclexception(env, ret, msg);
   }
+  return static_cast<jlong>(sequence_number);
 }
 
 JNIEXPORT void JNICALL

rcljava/src/main/cpp/org_ros2_rcljava_executors_BaseExecutor.cpp

@@ -23,7 +23,7 @@
 #include "rcl/rcl.h"
 #include "rcl/timer.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"

rcljava/src/main/cpp/org_ros2_rcljava_node_NodeImpl.cpp

@@ -22,7 +22,7 @@
 #include "rcl/node.h"
 #include "rcl/rcl.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"

rcljava/src/main/cpp/org_ros2_rcljava_service_ServiceImpl.cpp

@@ -22,7 +22,7 @@
 #include "rcl/node.h"
 #include "rcl/rcl.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"

rcljava/src/main/cpp/org_ros2_rcljava_subscription_SubscriptionImpl.cpp

@@ -22,7 +22,7 @@
 #include "rcl/node.h"
 #include "rcl/rcl.h"
 #include "rmw/rmw.h"
-#include "rosidl_generator_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 #include "rcljava_common/exceptions.hpp"
 #include "rcljava_common/signatures.hpp"

rcljava/src/main/java/org/ros2/rcljava/client/ClientImpl.java

@@ -17,6 +17,7 @@
 
 import java.time.Duration;
 import java.lang.ref.WeakReference;
+import java.lang.IllegalStateException;
 import java.lang.InterruptedException;
 import java.lang.Long;
 import java.util.AbstractMap;
@@ -52,7 +53,6 @@ public class ClientImpl<T extends ServiceDefinition> implements Client<T> {
   private final WeakReference<Node> nodeReference;
   private long handle;
   private final String serviceName;
-  private long sequenceNumber = 0;
   private Map<Long, Map.Entry<Consumer, RCLFuture>> pendingRequests;
 
   private final Class<MessageDefinition> requestType;
@@ -79,8 +79,8 @@ public void accept(Future<V> input) {}
   public final <U extends MessageDefinition, V extends MessageDefinition> Future<V>
   asyncSendRequest(final U request, final Consumer<Future<V>> callback) {
     synchronized (pendingRequests) {
-      sequenceNumber++;
-      nativeSendClientRequest(handle, sequenceNumber, request.getFromJavaConverterInstance(),
+      long sequenceNumber = nativeSendClientRequest(
+          handle, request.getFromJavaConverterInstance(),
           request.getToJavaConverterInstance(), request.getDestructorInstance(), request);
       RCLFuture<V> future = new RCLFuture<V>(this.nodeReference);
 
@@ -96,15 +96,20 @@ public final <U extends MessageDefinition> void handleResponse(
     synchronized (pendingRequests) {
       long sequenceNumber = header.sequenceNumber;
       Map.Entry<Consumer, RCLFuture> entry = pendingRequests.remove(sequenceNumber);
-      Consumer<Future> callback = entry.getKey();
-      RCLFuture<U> future = entry.getValue();
-      future.set(response);
-      callback.accept(future);
+      if (entry != null) {
+        Consumer<Future> callback = entry.getKey();
+        RCLFuture<U> future = entry.getValue();
+        future.set(response);
+        callback.accept(future);
+        return;
+      }
+      throw new IllegalStateException(
+          "No request made with the given sequence number: " + sequenceNumber);
     }
   }
 
-  private static native void nativeSendClientRequest(long handle, long sequenceNumber,
-      long requestFromJavaConverterHandle, long requestToJavaConverterHandle,
+  private static native long nativeSendClientRequest(
+      long handle, long requestFromJavaConverterHandle, long requestToJavaConverterHandle,
       long requestDestructorHandle, MessageDefinition requestMessage);
 
   public final Class<MessageDefinition> getRequestType() {

rcljava_common/cmake/Modules/JavaExtra.cmake

@@ -106,11 +106,11 @@ function(ament_add_junit_tests TARGET_NAME)
   set(${TARGET_NAME}_jar_dependencies "${JUNIT_JAR}${SEPARATOR}${HAMCREST_JAR}")
 
   add_jar("${TARGET_NAME}_jar"
-    "${_source_files}"
+    SOURCES "${_source_files}"
     OUTPUT_NAME
     "${TARGET_NAME}"
     INCLUDE_JARS
-    "${ARG_INCLUDE_JARS}"
+    ${ARG_INCLUDE_JARS}
     "${JUNIT_JAR}"
     "${HAMCREST_JAR}"
   )