Support for Windows arm64 and Android armeabi v7a

.github/workflows/build-natives.yml

@@ -130,43 +130,65 @@ jobs:
   build-natives-windows:
     if: github.event.inputs.platforms != 'linux'
     runs-on: windows-2022
-    timeout-minutes: 30
+    timeout-minutes: 45
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - platform: x86_64
+            msvc_arch: x64
+            windows_arm64: "0"
+          - platform: arm64
+            msvc_arch: amd64_arm64
+            windows_arm64: "1"
     steps:
       - uses: actions/checkout@v5
       - uses: ilammy/msvc-dev-cmd@v1
         with:
           vsversion: 2022
+          arch: ${{ matrix.msvc_arch }}
       - uses: actions/setup-java@v5
         with:
           distribution: 'temurin'
           java-version: '17'
-      - name: Compile native library
+      - name: Compile native library (${{ matrix.platform }})
+        shell: bash
+        env:
+          WINDOWS_COMPILE_ARM64: ${{ matrix.windows_arm64 }}
         run: |
-          bash.exe cppbuild.bash
+          if [ "${{ matrix.windows_arm64 }}" = "1" ]; then
+            bash build-windows-arm64.bash
+          else
+            bash cppbuild.bash
+          fi
       - name: Stage and verify Windows native libraries
         shell: bash
         run: |
           set -euo pipefail
-          DEST="src/main/resources/fastddsjava/native/windows-x86_64"
+          DEST="src/main/resources/fastddsjava/native/windows-${{ matrix.platform }}"
           ls -la "$DEST" || true
           test -f "$DEST/fastcdr-2.3.dll" || { echo "Missing fastcdr DLL"; ls -la "$DEST" install/bin 2>/dev/null || true; exit 1; }
           test -f "$DEST/fastdds-3.6.dll" || { echo "Missing fastdds-3.6.dll"; ls -la "$DEST" cppbuild/install/bin 2>/dev/null || true; exit 1; }
           test -f "$DEST/jnifastddsjava.dll" || { echo "Missing jnifastddsjava.dll"; exit 1; }
           # Reject stale JNI binaries still linked against older Fast-DDS SONAMEs.
-          if command -v objdump >/dev/null 2>&1; then
-            deps=$(objdump -p "$DEST/jnifastddsjava.dll" | grep -i 'DLL Name' || true)
-            echo "$deps"
-            echo "$deps" | grep -qi 'fastdds-3\.6\.dll' || { echo "jnifastddsjava.dll does not import fastdds-3.6.dll"; exit 1; }
-            echo "$deps" | grep -qi 'fastdds-3\.2\.dll' && { echo "jnifastddsjava.dll still imports fastdds-3.2.dll"; exit 1; } || true
+          # Prefer dumpbin: MinGW objdump on the runner cannot parse ARM64 PE.
+          deps=""
+          if command -v dumpbin.exe >/dev/null 2>&1 || command -v dumpbin >/dev/null 2>&1; then
+            deps=$(MSYS_NO_PATHCONV=1 dumpbin.exe /DEPENDENTS "$DEST/jnifastddsjava.dll" 2>/dev/null || true)
+          elif command -v objdump >/dev/null 2>&1; then
+            deps=$(objdump -p "$DEST/jnifastddsjava.dll" 2>/dev/null | grep -i 'DLL Name' || true)
           fi
-          mkdir -p artifact/windows-x86_64
-          cp -a "$DEST/." artifact/windows-x86_64/
-          ls -la artifact/windows-x86_64
+          echo "$deps"
+          echo "$deps" | grep -qi 'fastdds-3\.6\.dll' || { echo "jnifastddsjava.dll does not import fastdds-3.6.dll"; exit 1; }
+          echo "$deps" | grep -qi 'fastdds-3\.2\.dll' && { echo "jnifastddsjava.dll still imports fastdds-3.2.dll"; exit 1; } || true
+          mkdir -p "artifact/windows-${{ matrix.platform }}"
+          cp -a "$DEST/." "artifact/windows-${{ matrix.platform }}/"
+          ls -la "artifact/windows-${{ matrix.platform }}"
       - name: Upload artifacts
         uses: actions/upload-artifact@v7
         with:
-          name: natives-windows
-          path: artifact/windows-x86_64/
+          name: natives-windows-${{ matrix.platform }}
+          path: artifact/windows-${{ matrix.platform }}/
           retention-days: 1
 
   build-natives-android:
@@ -176,7 +198,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        platform: [arm64-v8a, x86_64]
+        platform: [arm64-v8a, armeabi-v7a, x86_64]
     steps:
       - name: Checkout repository
         uses: actions/checkout@v5
@@ -204,6 +226,11 @@ jobs:
         run: |
           PATH=/opt/cmake-4.0.2/bin:$PATH bash build-android-arm64.bash
 
+      - name: Compile native library (armeabi-v7a)
+        if: matrix.platform == 'armeabi-v7a'
+        run: |
+          PATH=/opt/cmake-4.0.2/bin:$PATH bash build-android-armeabi-v7a.bash
+
       - name: Compile native library (x86_64)
         if: matrix.platform == 'x86_64'
         run: |
@@ -213,7 +240,7 @@ jobs:
         run: |
           set -euo pipefail
           DEST="android/src/main/jniLibs/${{ matrix.platform }}"
-          for f in libfastcdr.so libfastdds.so libjnifastddsjava.so; do
+          for f in libfastcdr.so libfastdds.so libjnifastddsjava.so libc++_shared.so; do
             test -f "$DEST/$f" || { echo "Missing $DEST/$f"; ls -la "$DEST" || true; exit 1; }
           done
           mkdir -p "artifact/${{ matrix.platform }}"
@@ -449,9 +476,11 @@ jobs:
           copy_artifact_dir "$(resolve_artifact_src artifacts/natives-linux-armhf linux-armhf)" src/main/resources/fastddsjava/native/linux-armhf
           copy_artifact_dir "$(resolve_artifact_src artifacts/natives-linux-x86_64 linux-x86_64)" src/main/resources/fastddsjava/native/linux-x86_64
 
-          copy_artifact_dir "$(resolve_artifact_src artifacts/natives-windows windows-x86_64)" src/main/resources/fastddsjava/native/windows-x86_64
+          copy_artifact_dir "$(resolve_artifact_src artifacts/natives-windows-x86_64 windows-x86_64)" src/main/resources/fastddsjava/native/windows-x86_64
+          copy_artifact_dir "$(resolve_artifact_src artifacts/natives-windows-arm64 windows-arm64)" src/main/resources/fastddsjava/native/windows-arm64
 
           copy_artifact_dir "$(resolve_artifact_src artifacts/natives-android-arm64-v8a arm64-v8a)" android/src/main/jniLibs/arm64-v8a
+          copy_artifact_dir "$(resolve_artifact_src artifacts/natives-android-armeabi-v7a armeabi-v7a)" android/src/main/jniLibs/armeabi-v7a
           copy_artifact_dir "$(resolve_artifact_src artifacts/natives-android-x86_64 x86_64)" android/src/main/jniLibs/x86_64
 
           copy_artifact_dir "$(resolve_artifact_src artifacts/natives-macos-arm64 macos-arm64)" src/main/resources/fastddsjava/native/macos-arm64
@@ -522,10 +551,10 @@ jobs:
           done
 
           # Windows x86_64
-          check_file "$BASE/windows-x86_64/fastcdr-2.3.dll"        "x86-64|PE32" "windows-x86_64"
-          check_file "$BASE/windows-x86_64/fastdds-3.6.dll"        "x86-64|PE32" "windows-x86_64"
-          check_file "$BASE/windows-x86_64/jnifastddsjava.dll"     "x86-64|PE32" "windows-x86_64"
-          win_jni_deps=$(objdump -p "$BASE/windows-x86_64/jnifastddsjava.dll" | grep -i 'DLL Name' || true)
+          check_file "$BASE/windows-x86_64/fastcdr-2.3.dll"        "x86-64" "windows-x86_64"
+          check_file "$BASE/windows-x86_64/fastdds-3.6.dll"        "x86-64" "windows-x86_64"
+          check_file "$BASE/windows-x86_64/jnifastddsjava.dll"     "x86-64" "windows-x86_64"
+          win_jni_deps=$(objdump -p "$BASE/windows-x86_64/jnifastddsjava.dll" 2>/dev/null | grep -i 'DLL Name' || true)
           echo "$win_jni_deps"
           if ! echo "$win_jni_deps" | grep -qi 'fastdds-3\.6\.dll'; then
             echo "WRONG DEPS [windows-x86_64]: jnifastddsjava.dll must import fastdds-3.6.dll"
@@ -536,6 +565,31 @@ jobs:
             FAIL=1
           fi
 
+          # Windows ARM64
+          check_file "$BASE/windows-arm64/fastcdr-2.3.dll"         "Aarch64|ARM64|aarch64" "windows-arm64"
+          check_file "$BASE/windows-arm64/fastdds-3.6.dll"         "Aarch64|ARM64|aarch64" "windows-arm64"
+          check_file "$BASE/windows-arm64/jnifastddsjava.dll"      "Aarch64|ARM64|aarch64" "windows-arm64"
+          # Linux binutils may not parse ARM64 PE; try llvm-objdump, then objdump, then strings fallback.
+          win_arm_jni_deps=""
+          if command -v llvm-objdump >/dev/null 2>&1; then
+            win_arm_jni_deps=$(llvm-objdump -p "$BASE/windows-arm64/jnifastddsjava.dll" 2>/dev/null | grep -iE 'DLL Name|fastdds' || true)
+          fi
+          if [ -z "$win_arm_jni_deps" ]; then
+            win_arm_jni_deps=$(objdump -p "$BASE/windows-arm64/jnifastddsjava.dll" 2>/dev/null | grep -i 'DLL Name' || true)
+          fi
+          if [ -z "$win_arm_jni_deps" ]; then
+            win_arm_jni_deps=$(strings "$BASE/windows-arm64/jnifastddsjava.dll" | grep -iE 'fastdds-.*\.dll' || true)
+          fi
+          echo "$win_arm_jni_deps"
+          if ! echo "$win_arm_jni_deps" | grep -qi 'fastdds-3\.6\.dll'; then
+            echo "WRONG DEPS [windows-arm64]: jnifastddsjava.dll must import fastdds-3.6.dll"
+            FAIL=1
+          fi
+          if echo "$win_arm_jni_deps" | grep -qi 'fastdds-3\.2\.dll'; then
+            echo "WRONG DEPS [windows-arm64]: jnifastddsjava.dll still imports fastdds-3.2.dll"
+            FAIL=1
+          fi
+
           # macOS arm64
           check_file "$BASE/macos-arm64/libfastcdr.2.3.5.dylib"    "arm64"    "macos-arm64"
           check_file "$BASE/macos-arm64/libfastdds.3.6.2.dylib"    "arm64"    "macos-arm64"
@@ -550,11 +604,19 @@ jobs:
           check_file "$ANDROID_BASE/arm64-v8a/libfastcdr.so"       "aarch64"  "android-arm64-v8a"
           check_file "$ANDROID_BASE/arm64-v8a/libfastdds.so"       "aarch64"  "android-arm64-v8a"
           check_file "$ANDROID_BASE/arm64-v8a/libjnifastddsjava.so" "aarch64" "android-arm64-v8a"
+          check_file "$ANDROID_BASE/arm64-v8a/libc++_shared.so"    "aarch64"  "android-arm64-v8a"
+
+          # Android armeabi-v7a
+          check_file "$ANDROID_BASE/armeabi-v7a/libfastcdr.so"       "EABI5|ARM" "android-armeabi-v7a"
+          check_file "$ANDROID_BASE/armeabi-v7a/libfastdds.so"       "EABI5|ARM" "android-armeabi-v7a"
+          check_file "$ANDROID_BASE/armeabi-v7a/libjnifastddsjava.so" "EABI5|ARM" "android-armeabi-v7a"
+          check_file "$ANDROID_BASE/armeabi-v7a/libc++_shared.so"    "EABI5|ARM" "android-armeabi-v7a"
 
           # Android x86_64
           check_file "$ANDROID_BASE/x86_64/libfastcdr.so"          "x86-64"   "android-x86_64"
           check_file "$ANDROID_BASE/x86_64/libfastdds.so"          "x86-64"   "android-x86_64"
           check_file "$ANDROID_BASE/x86_64/libjnifastddsjava.so"   "x86-64"   "android-x86_64"
+          check_file "$ANDROID_BASE/x86_64/libc++_shared.so"       "x86-64"   "android-x86_64"
 
           if [ $FAIL -ne 0 ]; then
             echo ""

.github/workflows/gradle-test.yml

@@ -101,7 +101,7 @@ jobs:
       - name: Verify committed Android JNI libraries
         run: |
           set -euo pipefail
-          for abi in arm64-v8a x86_64; do
+          for abi in arm64-v8a armeabi-v7a x86_64; do
             for lib in libfastcdr.so libfastdds.so libjnifastddsjava.so libc++_shared.so; do
               test -f "android/src/main/jniLibs/$abi/$lib" || {
                 echo "Missing android/src/main/jniLibs/$abi/$lib"
@@ -125,7 +125,7 @@ jobs:
           echo "Built AAR: $AAR"
           unzip -l "$AAR"
 
-          for abi in arm64-v8a x86_64; do
+          for abi in arm64-v8a armeabi-v7a x86_64; do
             for lib in libfastcdr.so libfastdds.so libjnifastddsjava.so libc++_shared.so; do
               unzip -l "$AAR" | grep -q "jni/$abi/$lib" || {
                 echo "AAR missing jni/$abi/$lib"

README.md

@@ -17,9 +17,9 @@ ROS 2 compatible and tested distros: `[foxy, humble, jazzy, kilted, lyrical]`
 
 Supported platforms:
 - Linux (Ubuntu 20.04+ or similar x86_64, arm64, armhf)
-- Windows (Windows 10+ x86_64)
+- Windows (Windows 10+ x86_64, ARM64)
 - macOS (macOS 13+ Intel, Apple Silicon)
-- Android (Android 12+ x86_64, arm64-v8a)
+- Android (Android 12+ x86_64, arm64-v8a, armeabi-v7a)
 
 Works on NVIDIA Jetson and all versions of Raspberry Pi!
 

android/build.gradle.kts

@@ -119,7 +119,11 @@ tasks.register("copyLibcppShared") {
       if (ndkDir != null && ndkDir.exists()) {
          println("Found NDK: $ndkDir")
          // Copy libc++_shared.so for each ABI
-         listOf("arm64-v8a" to "aarch64-linux-android", "x86_64" to "x86_64-linux-android").forEach { (abi, triple) ->
+         listOf(
+            "arm64-v8a" to "aarch64-linux-android",
+            "armeabi-v7a" to "arm-linux-androideabi",
+            "x86_64" to "x86_64-linux-android"
+         ).forEach { (abi, triple) ->
             val libcppPath = file("$ndkDir/toolchains/llvm/prebuilt/linux-x86_64/sysroot/usr/lib/$triple/libc++_shared.so")
             if (libcppPath.exists()) {
                val abiDir = file("$jniLibsDir/$abi")

build-android-armeabi-v7a.bash

@@ -0,0 +1,37 @@
+#!/bin/bash
+# Build script for Android armeabi-v7a architecture
+# This script sets all required environment variables and builds native libraries
+
+set -e
+
+# Find Android NDK (try common locations)
+if [ -z "$ANDROID_NDK" ]; then
+  if [ -d "$HOME/Android/Sdk/ndk" ]; then
+    export ANDROID_NDK=$(ls -d $HOME/Android/Sdk/ndk/* 2>/dev/null | head -1)
+  fi
+
+  if [ -z "$ANDROID_NDK" ]; then
+    echo "Error: ANDROID_NDK not found. Please set ANDROID_NDK environment variable."
+    echo "Example: export ANDROID_NDK=/path/to/android-sdk/ndk/30.0.14904198"
+    exit 1
+  fi
+fi
+
+echo "Using Android NDK: $ANDROID_NDK"
+
+# Set Android build configuration
+export ANDROID_COMPILE=1
+export ANDROID_ABI=armeabi-v7a
+export ANDROID_API_LEVEL=26
+
+# Clean previous build
+echo "Cleaning previous build..."
+rm -rf cppbuild
+
+# Run build
+echo "Building for Android armeabi-v7a..."
+bash cppbuild.bash
+
+echo ""
+echo "Build complete! Libraries installed to:"
+echo "  android/src/main/jniLibs/armeabi-v7a/"

build-windows-arm64.bash

@@ -0,0 +1,15 @@
+#!/bin/bash
+# Build script for Windows ARM64
+# Run from a bash shell with the MSVC ARM64 toolchain active
+# (e.g. GitHub Actions: ilammy/msvc-dev-cmd with arch=amd64_arm64, or a native ARM64 VS prompt).
+
+set -e
+
+export WINDOWS_COMPILE_ARM64=1
+
+echo "Building for Windows ARM64..."
+bash cppbuild.bash
+
+echo ""
+echo "Build complete! Libraries installed to:"
+echo "  src/main/resources/fastddsjava/native/windows-arm64/"

cppbuild.bash

@@ -88,11 +88,16 @@ elif [[ "$OSTYPE" == "msys" || "$OSTYPE" == "cygwin" || "$OS" == "Windows_NT" ]]
   # Fast-DDS is built with MSVC; JNI must use the same toolchain/ABI.
   WINDOWS_COMPILE=1
   JNI_TARGET_NAME="jnifastddsjava.dll"
+  # Cross-compile ARM64 from an x64 host via msvc-dev-cmd arch=amd64_arm64 (or native ARM64 host).
+  if [ "$WINDOWS_COMPILE_ARM64" == "1" ]; then
+    COMPILER_ARGS="-A ARM64"
+  fi
 elif [[ "$OSTYPE" == "darwin"* ]]; then
   JNI_TARGET_NAME="libjnifastddsjava.dylib"
 fi
 
 WINDOWS_COMPILE=${WINDOWS_COMPILE:-0}
+WINDOWS_COMPILE_ARM64=${WINDOWS_COMPILE_ARM64:-0}
 
 # Build foonathan_memory_vendor
 pushd .
@@ -177,6 +182,9 @@ to_win_path() {
 }
 
 if [ "$ANDROID_COMPILE" == "1" ]; then
+  # Prefer NDK JNI headers. Host OpenJDK jni.h uses AttachCurrentThread(void**),
+  # while Android's uses AttachCurrentThread(JNIEnv**) — required by our __ANDROID__ paths.
+  JNI_INCLUDE=""
   ANDROID_TOOLCHAIN_BIN="$ANDROID_NDK/toolchains/llvm/prebuilt/linux-x86_64/bin"
   if [ "$ANDROID_ABI" == "arm64-v8a" ]; then
     ANDROID_COMPILER_PREFIX="aarch64-linux-android"
@@ -194,6 +202,10 @@ if [ "$ANDROID_COMPILE" == "1" ]; then
     -o javainstall/libjnifastddsjava.so -L${INSTALL_DIR}/install/lib \
     -Wl,-rpath,${INSTALL_DIR}/install/lib \
     -lfastdds -lfastcdr -llog -lc++_shared
+  if [ ! -f "javainstall/libjnifastddsjava.so" ]; then
+    echo "Error: Android JNI build did not produce javainstall/libjnifastddsjava.so"
+    exit 1
+  fi
 elif [ "$WINDOWS_COMPILE" == "1" ]; then
   # Match Fast-DDS MSVC build: MinGW cannot consume MSVC import libs as -lfastdds.
   if ! command -v cl.exe >/dev/null 2>&1; then
@@ -269,7 +281,11 @@ if [ -f "javainstall/libjnifastddsjava.so" ]; then
 fi
 # Windows: Fast-DDS installs versioned DLLs (e.g. fastdds-3.6.dll, fastcdr-2.3.dll).
 if [ "$WINDOWS_COMPILE" == "1" ]; then
-  WINDOWS_GEN_PATH="../src/main/resources/fastddsjava/native/windows-x86_64"
+  if [ "$WINDOWS_COMPILE_ARM64" == "1" ]; then
+    WINDOWS_GEN_PATH="../src/main/resources/fastddsjava/native/windows-arm64"
+  else
+    WINDOWS_GEN_PATH="../src/main/resources/fastddsjava/native/windows-x86_64"
+  fi
   mkdir -p "$WINDOWS_GEN_PATH"
   # Drop stale DLLs so we never ship an old JNI binary linked against a previous Fast-DDS SONAME.
   rm -f "$WINDOWS_GEN_PATH"/*.dll
@@ -313,8 +329,16 @@ if [ "$ANDROID_COMPILE" == "1" ]; then
   # Map ANDROID_ABI to Android jniLibs directory naming
   if [ "$ANDROID_ABI" == "arm64-v8a" ]; then
     ANDROID_GEN_PATH="../android/src/main/jniLibs/arm64-v8a"
+    ANDROID_NDK_TRIPLE="aarch64-linux-android"
+  elif [ "$ANDROID_ABI" == "armeabi-v7a" ]; then
+    ANDROID_GEN_PATH="../android/src/main/jniLibs/armeabi-v7a"
+    ANDROID_NDK_TRIPLE="arm-linux-androideabi"
   elif [ "$ANDROID_ABI" == "x86_64" ]; then
     ANDROID_GEN_PATH="../android/src/main/jniLibs/x86_64"
+    ANDROID_NDK_TRIPLE="x86_64-linux-android"
+  elif [ "$ANDROID_ABI" == "x86" ]; then
+    ANDROID_GEN_PATH="../android/src/main/jniLibs/x86"
+    ANDROID_NDK_TRIPLE="i686-linux-android"
   else
     echo "Unsupported ANDROID_ABI: $ANDROID_ABI"
     exit 1
@@ -333,6 +357,13 @@ if [ "$ANDROID_COMPILE" == "1" ]; then
     cp -f javainstall/libjnifastddsjava.so "$ANDROID_GEN_PATH/libjnifastddsjava.so"
     ${ANDROID_NDK}/toolchains/llvm/prebuilt/linux-x86_64/bin/llvm-strip "$ANDROID_GEN_PATH/libjnifastddsjava.so"
   fi
+  # Bundle the C++ shared runtime required by Fast-DDS / JNI on Android.
+  ANDROID_LIBCPP_SHARED="${ANDROID_NDK}/toolchains/llvm/prebuilt/linux-x86_64/sysroot/usr/lib/${ANDROID_NDK_TRIPLE}/libc++_shared.so"
+  if [ -f "$ANDROID_LIBCPP_SHARED" ]; then
+    cp -f "$ANDROID_LIBCPP_SHARED" "$ANDROID_GEN_PATH/libc++_shared.so"
+  else
+    echo "Warning: libc++_shared.so not found at $ANDROID_LIBCPP_SHARED"
+  fi
   # Ensure the Android linker records the C++ runtime dependency (needed when symbols are unresolved).
   if command -v patchelf >/dev/null 2>&1; then
     for lib in libfastdds.so libjnifastddsjava.so; do

src/main/java/us/ihmc/fastddsjava/library/fastddsjavaNativeLibrary.java

@@ -148,11 +148,20 @@ else if (arch.equals("amd64") || arch.equals("x86_64"))
       }
       else if (os.contains("win"))
       {
-         if (!(arch.equals("amd64") || arch.equals("x86_64")))
+         String archPackage;
+         if (arch.equals("amd64") || arch.equals("x86_64"))
+         {
+            archPackage = "windows-x86_64";
+         }
+         else if (arch.equals("aarch64") || arch.equals("arm64"))
+         {
+            archPackage = "windows-arm64";
+         }
+         else
          {
             throw new RuntimeException("Unsupported Windows architecture: " + arch);
          }
-         platformLibs = new PlatformLibs("fastddsjava.native.windows-x86_64", "jnifastddsjava.dll",
+         platformLibs = new PlatformLibs("fastddsjava.native." + archPackage, "jnifastddsjava.dll",
                                          new String[] {"fastcdr-2.3.dll", "fastdds-3.6.dll"});
       }
       else if (os.contains("mac"))