Dockerfile to create a dev env on Windows and run ros2_batch scr…

.gitmodules

@@ -5,3 +5,11 @@
 	path = linux_docker_resources/rticonnextdds-license
 	url = [email protected]:osrf/rticonnextdds-src.git
 	branch = license
+[submodule "windows_docker_resources/rticonnextdds-src"]
+	path = windows_docker_resources/rticonnextdds-src
+	url = [email protected]:osrf/rticonnextdds-src.git
+	branch = binaries/windows/amd64/5.3.1
+[submodule "windows_docker_resources/rticonnextdds-license"]
+	path = windows_docker_resources/rticonnextdds-license
+	url = [email protected]:osrf/rticonnextdds-src.git
+	branch = license

job_templates/ci_job.xml.em

@@ -58,18 +58,16 @@
       <url></url>
     </browser>
     <submoduleCfg class="list"/>
-    <extensions>@
-@[if os_name != 'windows']
+    <extensions>
       <hudson.plugins.git.extensions.impl.SubmoduleOption>
         <disableSubmodules>false</disableSubmodules>
         <recursiveSubmodules>true</recursiveSubmodules>
         <trackingSubmodules>false</trackingSubmodules>
         <reference/>
-        <parentCredentials>false</parentCredentials>
+        <parentCredentials>true</parentCredentials>
         <shallow>false</shallow>
       </hudson.plugins.git.extensions.impl.SubmoduleOption>
-    @
-@[end if]</extensions>
+    </extensions>
   </scm>
   <assignedNode>@(label_expression)</assignedNode>
   <canRoam>false</canRoam>

job_templates/packaging_job.xml.em

@@ -76,18 +76,16 @@ All packages listed here have to be available from either the primary or supplem
       <url></url>
     </browser>
     <submoduleCfg class="list"/>
-    <extensions>@
-@[if os_name != 'windows']
+    <extensions>
       <hudson.plugins.git.extensions.impl.SubmoduleOption>
         <disableSubmodules>false</disableSubmodules>
         <recursiveSubmodules>true</recursiveSubmodules>
         <trackingSubmodules>false</trackingSubmodules>
         <reference/>
-        <parentCredentials>false</parentCredentials>
+        <parentCredentials>true</parentCredentials>
         <shallow>false</shallow>
       </hudson.plugins.git.extensions.impl.SubmoduleOption>
-    @
-@[end if]</extensions>
+    </extensions>
   </scm>
   <assignedNode>@(label_expression)</assignedNode>
   <canRoam>false</canRoam>

ros2_batch_job/windows_batch/__init__.py

@@ -53,8 +53,10 @@ def setup_env(self):
         # Try to find the OpenSplice env file
         opensplice_env_file = None
         if 'rmw_opensplice_cpp' not in self.args.ignore_rmw:
-            opensplice_env_file = os.path.join(
-                os.path.abspath(os.sep), 'dev', 'opensplice', 'HDE', 'x86_64.win64', 'release.bat')
+            default_home = os.path.join(
+                os.path.abspath(os.sep), 'dev', 'opensplice', 'HDE', 'x86_64.win64')
+            ospl_home = os.environ.get('OSPL_HOME', default_home)
+            opensplice_env_file = os.path.join(ospl_home, 'release.bat')
             if not os.path.exists(opensplice_env_file):
                 warn("Asked to use OpenSplice but the env file was not found at '{0}'".format(
                     opensplice_env_file))

windows_docker_resources/Dockerfile.msvc2019

@@ -0,0 +1,141 @@
+# escape=`
+# This Dockerfile needs to be built from the parent directory (ros2/ci) so the build context
+# includes the python scripts
+
+# To find this value run in powershell:
+# $(Get-ItemProperty 'HKLM:\SOFTWARE\Microsoft\Windows NT\CurrentVersion').ReleaseId
+ARG WINDOWS_RELEASE_ID=1909
+ARG TODAYS_DATE=0
+
+# Indicates that the windows image will be used as the base image. Must be same or older than host.
+# --isolation=hyperv is needed for both build/run if the image id is older than the host id
+# Use --isolation=process if you need to build in a mounted volume
+FROM mcr.microsoft.com/windows:$WINDOWS_RELEASE_ID
+
+# These are versioned files, so they shouldn't invalidate caches. Renaming to fixed names.
+# Regularly updated installers are next to their associated code.
+ADD https://github.com/ADLINK-IST/opensplice/releases/download/OSPL_V6_9_190925OSS_RELEASE/PXXX-VortexOpenSplice-6.9.190925OSS-HDE-x86_64.win-vs2019-installer.zip C:\TEMP\OpenSplice.zip
+
+# OpenSSL
+ADD https://slproweb.com/download/Win64OpenSSL-1_0_2u.exe C:\TEMP\Win64OpenSSL.exe
+
+# OpenCV
+ADD https://github.com/ros2/ros2/releases/download/opencv-archives/opencv-3.4.6-vc16.VS2019.zip C:\TEMP\opencv.zip
+
+# Python 3.7
+ADD https://www.python.org/ftp/python/3.7.6/python-3.7.6-amd64.exe C:\TEMP\python-37.exe
+
+# Custom choco packages
+ADD https://github.com/ros2/choco-packages/releases/download/2019-10-24/asio.1.12.1.nupkg C:\TEMP\asio.nupkg
+ADD https://github.com/ros2/choco-packages/releases/download/2019-10-24/cunit.2.1.3.nupkg C:\TEMP\cunit.nupkg
+ADD https://github.com/ros2/choco-packages/releases/download/2019-10-24/eigen.3.3.4.nupkg C:\TEMP\eigen.nupkg
+ADD https://github.com/ros2/choco-packages/releases/download/2019-10-24/log4cxx.0.10.0.nupkg C:\TEMP\log4cxx.nupkg
+ADD https://github.com/ros2/choco-packages/releases/download/2019-10-24/tinyxml-usestl.2.6.2.nupkg C:\TEMP\tinyxml.nupkg
+ADD https://github.com/ros2/choco-packages/releases/download/2019-10-24/tinyxml2.6.0.0.nupkg C:\TEMP\tinyxml2.nupkg
+
+# xmllint files
+ADD https://www.zlatkovic.com/pub/libxml/64bit/libxml2-2.9.3-win32-x86_64.7z C:\TEMP\libxml2.7z
+ADD https://www.zlatkovic.com/pub/libxml/64bit/zlib-1.2.8-win32-x86_64.7z C:\TEMP\zlib.7z
+ADD https://www.zlatkovic.com/pub/libxml/64bit/iconv-1.14-win32-x86_64.7z C:\TEMP\iconv.7z
+
+# Restore the default Windows shell for correct batch processing.
+SHELL ["cmd", "/S", "/C"]
+
+RUN C:\TEMP\python-37.exe /quiet `
+  TargetDir=C:\Python37 `
+  PrependPath=1 `
+  Include_debug=1 `
+  Include_symbols=1
+
+# Install Chocolatey by powershell script
+RUN powershell -noexit "Set-ExecutionPolicy Bypass -Scope Process -Force; iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))"
+
+# choco installs
+RUN choco install -y cmake curl git vcredist2013 vcredist140 cppcheck patch
+RUN choco install -y -s C:\TEMP asio cunit eigen tinyxml-usestl tinyxml2 log4cxx
+
+RUN C:\TEMP\Win64OpenSSL.exe /VERYSILENT
+
+# For extracting .7z files
+ADD https://www.7-zip.org/a/7z1900-x64.exe C:\TEMP\
+RUN C:\TEMP\7z1900-x64.exe /S /D="C:\Program Files\7-zip"
+RUN setx PATH "%PATH%;C:\Program Files\7-zip"
+
+# Install xmllint
+# 7z.exe command line usage https://sevenzip.osdn.jp/chm/cmdline/commands/extract.htm
+RUN 7z.exe x C:\TEMP\libxml2.7z -aoa -oC:\xmllint
+RUN 7z.exe x C:\TEMP\zlib.7z -aoa -oC:\xmllint
+RUN 7z.exe x C:\TEMP\iconv.7z -aoa -oC:\xmllint
+RUN 7z.exe x C:\TEMP\opencv.zip -aoa -oC:\
+
+RUN 7z.exe x C:\TEMP\OpenSplice.zip -aoa -oC:\opensplice
+
+# Environment setup
+ENV OPENSSL_CONF C:\OpenSSL-Win64\bin\openssl.cfg
+ENV OpenCV_DIR C:\opencv
+ENV OSPL_HOME C:\opensplice\HDE\x86_64.win64
+# You can't use ENV to append to the PATH https://stackoverflow.com/questions/42092932/appending-to-path-in-a-windows-docker-container
+RUN setx PATH "%PATH%;C:\Program Files\Git\cmd;C:\Program Files\CMake\bin;C:\OpenSSL-Win64\bin\;C:\xmllint\bin;"C:\opencv\x64\vc16\bin"
+
+RUN powershell -Command Set-ItemProperty -Path "HKLM:\SYSTEM\CurrentControlSet\Control\FileSystem" -Name "LongPathsEnabled" -Value 1
+RUN mkdir C:\ws
+WORKDIR C:\ci
+
+# Invalidate once a day to cause online installers to check for updates
+RUN echo %TODAYS_DATE%
+
+# Qt5 online installer
+ADD http://download.qt.io/official_releases/online_installers/qt-unified-windows-x86-online.exe C:\TEMP\
+
+# Install Qt5 with automated install script, no msvc2019 version exists but 2017 is compatible
+# Updater/silentUpdate options did not work for me. Install scripts finds and installs the most recent LTS version
+COPY qt-installer.qs C:\TEMP\
+RUN C:\TEMP\qt-unified-windows-x86-online.exe --script C:\TEMP\qt-installer.qs MsvcVersion=2019 ErrorLogname="%ERROR_FILENAME%"
+RUN IF EXIST "%ERROR_FILENAME%" EXIT 1
+
+RUN choco upgrade -y chocolatey
+RUN choco upgrade -y all
+
+# The rest of the python packages are installed through run_ros2_batch.py
+RUN python -m pip install -U pip setuptools pydot PyQt5
+
+COPY rticonnextdds-license\rti_license.dat C:\connext\
+ENV RTI_LICENSE_FILE C:\connext\rti_license.dat
+
+COPY rticonnextdds-src\openssl-1.0.2n-target-x64Win64VS2017.zip C:\TEMP\connext\
+RUN 7z.exe x C:\TEMP\connext\openssl-1.0.2n-target-x64Win64VS2017.zip -aoa -oC:\connext\
+ENV RTI_OPENSSL_BIN C:\connext\openssl-1.0.2n\x64Win64VS2017\release\bin
+ENV RTI_OPENSSL_LIB C:\connext\openssl-1.0.2n\x64Win64VS2017\release\lib
+
+COPY rticonnextdds-src\rti_connext_dds-5.3.1-pro-host-x64Win64.exe.??? C:\TEMP\connext\
+RUN copy /b C:\TEMP\connext\rti_connext_dds-5.3.1-pro-host-x64Win64.exe.??? C:\TEMP\connext\rti_connext_dds-5.3.1-pro-host-x64Win64.exe
+RUN C:\TEMP\connext\rti_connext_dds-5.3.1-pro-host-x64Win64.exe `
+  --mode unattended `
+  --unattendedmodeui minimalWithDialogs `
+  --prefix "%ProgramFiles%"
+
+COPY rticonnextdds-src\openssl-1.0.2n-5.3.1-host-x64Win64.rtipkg C:\TEMP\connext\
+RUN ""%ProgramFiles%\rti_connext_dds-5.3.1\bin\rtipkginstall.bat" C:\TEMP\connext\openssl-1.0.2n-5.3.1-host-x64Win64.rtipkg"
+COPY rticonnextdds-src\rti_connext_dds-5.3.1-pro-target-x64Win64VS2017.rtipkg.??? C:\TEMP\connext\
+RUN copy /b C:\TEMP\connext\rti_connext_dds-5.3.1-pro-target-x64Win64VS2017.rtipkg.??? C:\TEMP\connext\rti_connext_dds-5.3.1-pro-target-x64Win64VS2017.rtipkg
+RUN ""%ProgramFiles%\rti_connext_dds-5.3.1\bin\rtipkginstall.bat" C:\TEMP\connext\rti_connext_dds-5.3.1-pro-target-x64Win64VS2017.rtipkg"
+COPY rticonnextdds-src\rti_security_plugins-5.3.1-host-x64Win64.rtipkg C:\TEMP\connext\
+RUN ""%ProgramFiles%\rti_connext_dds-5.3.1\bin\rtipkginstall.bat" C:\TEMP\connext\rti_security_plugins-5.3.1-host-x64Win64.rtipkg"
+COPY rticonnextdds-src\rti_security_plugins-5.3.1-target-x64Win64VS2017.rtipkg C:\TEMP\connext\
+RUN ""%ProgramFiles%\rti_connext_dds-5.3.1\bin\rtipkginstall.bat" C:\TEMP\connext\rti_security_plugins-5.3.1-target-x64Win64VS2017.rtipkg"
+
+# Visual Studio Build Tools and .Net SDK`
+ADD https://aka.ms/vs/16/release/vs_BuildTools.exe C:\TEMP\
+
+# 3010 is an acceptable exit code (install was successful but restart required), but it will confuse docker.
+# This installer invalidates docker image caches pretty regularly, so it's late in the order. See documentation for installer at:
+# https://docs.microsoft.com/en-us/visualstudio/install/use-command-line-parameters-to-install-visual-studio?view=vs-2019
+RUN C:\TEMP\vs_BuildTools.exe --quiet --wait --norestart --includeRecommended `
+  --add Microsoft.Net.Component.4.8.SDK `
+  --add Microsoft.VisualStudio.Workload.VCTools `
+  --add Microsoft.Component.MSBuild `
+  --add Microsoft.VisualStudio.Component.VC.CLI.Support `
+  || IF "%ERRORLEVEL%"=="3010" EXIT 0
+
+CMD ["C:\\Program Files (x86)\\Microsoft Visual Studio\\2019\\BuildTools\\VC\\Auxiliary\\Build\\vcvarsall.bat", "x86_amd64", "&&", `
+     "python", "run_ros2_batch.py", "%CI_ARGS%"]