[RSDK-11250, RSDK-11251, RSDK-11784, RSDK-11807] - Cpp improvements (#27)

* Use cpp sdk logger

* Remove namespace log

* Throw instead of exit

* Update readme

* Implement get properties

* Remove extra err log

* Downgrade unimplemented to warns

* Wrap serve in try catch for better logging

* More exception cleanup

* Remove exception log dups in init_csi

* Cleaner resource management in stop_pipeline

* Add linter

* Add lint workflow

* Lint

Author: seanavery

.clang-format

@@ -0,0 +1,18 @@
+AllowShortFunctionsOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+BasedOnStyle: Google
+BinPackArguments: false
+BinPackParameters: false
+ColumnLimit: 140
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+IncludeBlocks: Preserve
+IndentWidth: 4
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+SortIncludes: true
+SpaceBeforeAssignmentOperators: true
+Standard: c++17
+UseTab: Never
+

.github/workflows/main.yml .github/workflows/build.yml.github/workflows/main.yml renamed to .github/workflows/build.yml

@@ -0,0 +1,28 @@
+name: Lint
+
+on:
+  pull_request:
+
+jobs:
+  lint-check:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Get clang-format
+        run: |
+          sudo apt-get update -y
+          sudo apt-get install -y clang-format-19
+
+      - name: Verify no uncommitted changes from "make lint"
+        run: |
+          git init && git add . && make lint
+          GEN_DIFF=$(git status -s)
+          if [ -n "$GEN_DIFF" ]; then
+              echo '"make lint" resulted in the following untracked changes:' 1>&2
+              git diff
+              echo '"make lint" resulted in changes not in git' 1>&2
+              git status
+              exit 1
+          fi

.github/workflows/lint.yml

@@ -41,6 +41,9 @@ package:
 	PACK_TAG=$(PACK_TAG) \
 	appimage-builder --recipe $(RECIPE)
 
+lint:
+	./etc/run-clang-format.sh
+
 # Removes all build and bin artifacts.
 clean:
 	rm -rf $(BUILD_DIR) | true && \

Makefile

@@ -81,8 +81,7 @@ Once configured, check the [Logs tab](https://docs.viam.com/program/debug/) of y
       "attributes": {
         "width_px": 1920,
         "height_px": 1080,
-        "frame_rate": 30,
-        "debug": true
+        "frame_rate": 30
       },
       "depends_on": [],
       "name": "csicam_test",
@@ -137,8 +136,7 @@ On the new component panel, copy and paste the following attribute template into
 {
   "width_px": <int>,
   "height_px": <int>,
-  "frame_rate": <int>,
-  "debug": <bool>
+  "frame_rate": <int>
 }
 ```
 
@@ -158,7 +156,6 @@ The following attributes are available for `viam:camera:csi` cameras:
 | `width_px` | int | Optional | Width of the image this camera captures in pixels. <br> Default: `1920` |
 | `height_px` | int | Optional | Height of the image this camera captures in pixels. <br> Default: `1080` |
 | `frame_rate` | int | Optional | The image capture frame rate this camera should use. <br> Default: `30` |
-| `debug` | boolean | Optional | Whether or not you want debug input from this camera in your robot's logs. <br> Default: `false` |
 
 Once configured, check the [Logs tab](https://docs.viam.com/program/debug/) of your robot in the Viam app to make sure your camera has connected and no errors are being raised.
 

README.md

@@ -8,7 +8,7 @@
 #define DEFAULT_API_SUBTYPE "csi"
 
 // GST
-#define GST_GET_STATE_TIMEOUT 1 
+#define GST_GET_STATE_TIMEOUT 1
 #define GST_CHANGE_STATE_TIMEOUT 5
 
 // Pipeline