[RSDK-11420] - Use conan for cpp-sdk dep

.canon.yaml

@@ -1,14 +1,14 @@
 csi-jetson:
   default: true
-  image_arm64: ghcr.io/viam-modules/csi-camera/viam-cpp-base-jetson:0.0.6
+  image_arm64: ghcr.io/viam-modules/csi-camera/viam-cpp-base-jetson:0.0.7
   minimum_date: 2023-10-26T20:00:00.0Z
   update_interval: 168h0m0s
   user: testbot
   group: testbot
   persistent: true
 
 csi-pi:
-  image_arm64: ghcr.io/viam-modules/csi-camera/viam-cpp-base-pi:0.0.6
+  image_arm64: ghcr.io/viam-modules/csi-camera/viam-cpp-base-pi:0.0.7
   minimum_date: 2023-10-26T20:00:00.0Z
   update_interval: 168h0m0s
   user: testbot

.github/workflows/build.yml

@@ -17,14 +17,14 @@ on:
 jobs:
   appimage:
     name: Build
-    runs-on: buildjet-2vcpu-ubuntu-2204-arm
+    runs-on: buildjet-8vcpu-ubuntu-2204-arm
     strategy:
       matrix:
         include:
-          - container: ghcr.io/viam-modules/csi-camera/viam-cpp-base-jetson:0.0.6
+          - container: ghcr.io/viam-modules/csi-camera/viam-cpp-base-jetson:0.0.7
             TARGET: jetson
             META_PATH: meta.json
-          - container: ghcr.io/viam-modules/csi-camera/viam-cpp-base-pi:0.0.6
+          - container: ghcr.io/viam-modules/csi-camera/viam-cpp-base-pi:0.0.7
             TARGET: pi
             META_PATH: meta-pi.json
     container:
@@ -40,6 +40,14 @@ jobs:
           echo "TARGET=${{ matrix.TARGET }}" >> $GITHUB_ENV
           echo "META_PATH=${{ matrix.META_PATH }}" >> $GITHUB_ENV
 
+      - name: Restore Conan cache
+        uses: actions/cache@v4
+        with:
+          path: .conan-home
+          key: ${{ runner.os }}-${{ matrix.TARGET }}-conan-${{ hashFiles('conanfile.py', 'Makefile') }}
+          restore-keys: |
+            ${{ runner.os }}-${{ matrix.TARGET }}-conan-
+
       - name: Clean build artifacts
         run: make clean
 
@@ -49,6 +57,13 @@ jobs:
       - name: Build viam-csi binary
         run: make build
 
+      - name: Verify no dynamic viam library deps
+        run: |
+          if ldd build-conan/build/Release/viam-csi | grep -i 'libviam'; then
+            echo "Unexpected dynamic viam library dependency found"
+            exit 1
+          fi
+
       - name: Build viam-csi appimage
         run: make package
 

.github/workflows/deploy.yml

@@ -4,14 +4,14 @@ on:
 
 jobs:
   publish:
-    runs-on: buildjet-2vcpu-ubuntu-2204-arm
+    runs-on: buildjet-8vcpu-ubuntu-2204-arm
     strategy:
      matrix:
         include:
-          - container: ghcr.io/viam-modules/csi-camera/viam-cpp-base-jetson:0.0.6
+          - container: ghcr.io/viam-modules/csi-camera/viam-cpp-base-jetson:0.0.7
             TARGET: jetson
             META_PATH: meta.json
-          - container: ghcr.io/viam-modules/csi-camera/viam-cpp-base-pi:0.0.6
+          - container: ghcr.io/viam-modules/csi-camera/viam-cpp-base-pi:0.0.7
             TARGET: pi
             META_PATH: meta-pi.json
     container:
@@ -27,6 +27,14 @@ jobs:
           echo "TARGET=${{ matrix.TARGET }}" >> $GITHUB_ENV
           echo "META_PATH=${{ matrix.META_PATH }}" >> $GITHUB_ENV
 
+      - name: Restore Conan cache
+        uses: actions/cache@v4
+        with:
+          path: .conan-home
+          key: ${{ runner.os }}-${{ matrix.TARGET }}-conan-${{ hashFiles('conanfile.py', 'Makefile') }}
+          restore-keys: |
+            ${{ runner.os }}-${{ matrix.TARGET }}-conan-
+
       - name: Clean build artifacts
         run: make clean
 

.github/workflows/unit.yml

@@ -17,11 +17,11 @@ on:
 jobs:
   unit-test:
     name: Unit Tests
-    runs-on: buildjet-2vcpu-ubuntu-2204-arm
+    runs-on: buildjet-8vcpu-ubuntu-2204-arm
     strategy:
       matrix:
         include:
-          - container: ghcr.io/viam-modules/csi-camera/viam-cpp-base-jetson:0.0.6
+          - container: ghcr.io/viam-modules/csi-camera/viam-cpp-base-jetson:0.0.7
             TARGET: jetson
 
     container:
@@ -37,14 +37,19 @@ jobs:
           echo "TARGET=${{ matrix.TARGET }}" >> $GITHUB_ENV
           echo "META_PATH=${{ matrix.META_PATH }}" >> $GITHUB_ENV
 
+      - name: Restore Conan cache
+        uses: actions/cache@v4
+        with:
+          path: .conan-home
+          key: ${{ runner.os }}-${{ matrix.TARGET }}-conan-${{ hashFiles('conanfile.py', 'Makefile') }}
+          restore-keys: |
+            ${{ runner.os }}-${{ matrix.TARGET }}-conan-
+
       - name: Install module dependencies
         run: make dep
 
-      - name: Build viam-csi binary
-        run: make build
-
-      - name: Run unit tests
-        run: |
-          export VIAM_CSI_DEVICE=${{ matrix.TARGET }}
-          export VIAM_CSI_TEST_MODE=1
-          ctest --test-dir build --rerun-failed --output-on-failure -VV
+      - name: Build and run unit tests
+        run: make conan-test TARGET=${{ matrix.TARGET }}
+        env:
+          VIAM_CSI_DEVICE: ${{ matrix.TARGET }}
+          VIAM_CSI_TEST_MODE: "1"

CMakeLists.txt

@@ -12,11 +12,10 @@ set(GNU_INCLUDE_PATH /usr/include/aarch64-linux-gnu)
 set(LOCAL_LIB_PATH /usr/local/lib)
 set(LOCAL_INCLUDE_PATH /usr/local/include)
 
-enable_testing()
-find_package(GTest REQUIRED)
 find_package(PkgConfig REQUIRED)
 find_package(viam-cpp-sdk CONFIG REQUIRED)
 pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0 gstreamer-app-1.0 gstreamer-base-1.0)
+option(VIAM_CSI_ENABLE_TESTS "Build viam-csi unit tests" ON)
 
 include_directories(
         ${GLIB_INCLUDE_DIRS}
@@ -35,23 +34,44 @@ link_directories(
 # Main executable
 add_executable(${PROJECT_NAME} main.cpp csi_camera.cpp utils.cpp)
 
-target_link_libraries(${PROJECT_NAME} 
-        ${GSTREAMER_LIBRARIES} 
+target_link_libraries(${PROJECT_NAME}
+        ${GSTREAMER_LIBRARIES}
         viam-cpp-sdk::viamsdk
 )
 
+# Bullseye (glibc < 2.34) keeps POSIX AIO symbols in librt; Jammy+ merges them into libc.
+# The SDK's Conan package places libviam_rust_utils.a last in link order but declares -lrt
+# before it, so the linker discards rt before seeing the AIO references.
+# Tell the linker to not discard unused symbols from librt on first pass.
+if(UNIX AND NOT APPLE)
+    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--no-as-needed")
+endif()
+
 install(TARGETS ${PROJECT_NAME} DESTINATION usr/local/bin)
 
 
-# Test executable
-add_executable(${PROJECT_NAME}_test tests/unit/test_csi_camera.cpp)
+if(VIAM_CSI_ENABLE_TESTS)
+    enable_testing()
+    find_package(GTest REQUIRED)
 
-target_link_libraries(${PROJECT_NAME}_test
-        ${GSTREAMER_LIBRARIES}
-        GTest::GTest
-        GTest::Main
-        viam-cpp-sdk::viamsdk
-)
+    set(VIAM_CSI_GTEST_LIBS)
+    if(TARGET GTest::gtest AND TARGET GTest::gtest_main)
+        list(APPEND VIAM_CSI_GTEST_LIBS GTest::gtest GTest::gtest_main)
+    elseif(TARGET GTest::GTest AND TARGET GTest::Main)
+        list(APPEND VIAM_CSI_GTEST_LIBS GTest::GTest GTest::Main)
+    else()
+        message(FATAL_ERROR "Unable to resolve GTest targets from find_package(GTest)")
+    endif()
+
+    # Test executable
+    add_executable(${PROJECT_NAME}_test tests/unit/test_csi_camera.cpp)
+
+    target_link_libraries(${PROJECT_NAME}_test
+            ${GSTREAMER_LIBRARIES}
+            ${VIAM_CSI_GTEST_LIBS}
+            viam-cpp-sdk::viamsdk
+    )
 
-# Add the test as a target
-add_test(NAME ${PROJECT_NAME}_test COMMAND ${PROJECT_NAME}_test)
+    # Add the test as a target
+    add_test(NAME ${PROJECT_NAME}_test COMMAND ${PROJECT_NAME}_test)
+endif()

Makefile

@@ -6,7 +6,7 @@ BIN_DIR := ./bin
 # Docker
 HUB_USER := viam-modules/csi-camera
 TEST_NAME := viam-csi-test
-BASE_TAG := 0.0.6
+BASE_TAG := 0.0.7
 
 # Package
 PACK_NAME := viam-csi
@@ -24,18 +24,55 @@ else ifeq ($(TARGET), pi)
 	RECIPE=./viam-csi-pi-arm64.yml
 endif
 
+# Conan
+export CONAN_HOME := $(CURDIR)/.conan-home/.conan2
+VENV_DIR := ./venv
+CONAN_OUT := ./build-conan
+CONAN_TEST_OUT := ./build-conan-test
+CONAN_BIN := $(CONAN_OUT)/build/Release/viam-csi
+CONAN_FLAGS := -s:a build_type=Release -s:a compiler.cppstd=17
+CONAN_TEST_OPT := -o "&:with_tests=True"
+CONAN_RUN = test -f $(VENV_DIR)/bin/activate && . $(VENV_DIR)/bin/activate; conan
+
+.PHONY: conan-setup conan-install conan-build conan-build-with-tests conan-test build-conan-binary
+
+conan-setup:
+	python3 -m venv $(VENV_DIR) 2>/dev/null || pip3 install conan --ignore-installed
+	$(CONAN_RUN) --version 2>/dev/null || pip install conan 2>/dev/null || true
+	$(CONAN_RUN) profile detect --force
+	$(CONAN_RUN) remote add viamconan https://viam.jfrog.io/artifactory/api/conan/viamconan --index 0 --force || true
+
+conan-install:
+	$(CONAN_RUN) --version >/dev/null 2>&1 || $(MAKE) conan-setup
+	$(CONAN_RUN) install . --output-folder=$(CONAN_OUT) --build=missing $(CONAN_FLAGS)
+
+conan-build:
+	$(CONAN_RUN) build . --output-folder=$(CONAN_OUT) --build=none $(CONAN_FLAGS)
+
+conan-build-with-tests:
+	$(CONAN_RUN) install . --output-folder=$(CONAN_TEST_OUT) --build=missing $(CONAN_FLAGS) $(CONAN_TEST_OPT)
+	$(CONAN_RUN) build . --output-folder=$(CONAN_TEST_OUT) --build=none $(CONAN_FLAGS) $(CONAN_TEST_OPT)
+
+conan-test: conan-install conan-build conan-build-with-tests
+	cd $(CONAN_TEST_OUT)/build/Release && \
+		. ./generators/conanrun.sh && \
+		ctest --output-on-failure
+
+build-conan-binary:
+	$(MAKE) conan-install TARGET=$(TARGET)
+	$(MAKE) conan-build TARGET=$(TARGET)
+
 # Module
 # Builds/installs module.
 .PHONY: build
 build:
-	rm -rf $(BUILD_DIR) | true && \
-	mkdir -p build && \
-	cd build && \
-	cmake -DCMAKE_INSTALL_PREFIX=$(INSTALL_DIR) .. -G Ninja && \
-	ninja -j $(shell nproc)
+	$(MAKE) build-conan-binary TARGET=$(TARGET)
 
-# Creates appimage cmake build.
+# Creates appimage package.
 package:
+	$(MAKE) build-conan-binary TARGET=$(TARGET)
+	@mkdir -p $(BUILD_DIR)
+	@cp $(CONAN_BIN) $(BUILD_DIR)/viam-csi
 	cd etc && \
 	PACK_NAME=$(PACK_NAME) \
 	PACK_TAG=$(PACK_TAG) \
@@ -46,10 +83,7 @@ lint:
 
 # Removes all build and bin artifacts.
 clean:
-	rm -rf $(BUILD_DIR) | true && \
-	rm -rf $(BIN_DIR) | true && \
-	rm -rf $(INSTALL_DIR) | true \
-	rm -rf ./etc/appimage-build | true && \
+	rm -rf $(BUILD_DIR) $(BIN_DIR) $(INSTALL_DIR) ./etc/appimage-build
 	rm -f ./etc/viam-csi-$(PACK_TAG)-aarch64.AppImage*
 
 # Copies binary and appimage to bin folder

conanfile.py

@@ -0,0 +1,65 @@
+import re
+
+from conan import ConanFile
+from conan.tools.build import check_min_cppstd
+from conan.tools.cmake import CMake, CMakeDeps, CMakeToolchain, cmake_layout
+from conan.tools.files import load
+
+
+class ViamCsi(ConanFile):
+    name = "viam-csi"
+    license = "Apache-2.0"
+    url = "https://github.com/viam-modules/csi-camera"
+    package_type = "application"
+
+    settings = "os", "compiler", "build_type", "arch"
+    options = {"with_tests": [True, False]}
+    default_options = {
+        "with_tests": False,
+        "viam-cpp-sdk/*:shared": False,
+    }
+
+    exports_sources = (
+        "CMakeLists.txt",
+        "LICENSE",
+        "main.cpp",
+        "csi_camera.cpp",
+        "csi_camera.h",
+        "utils.cpp",
+        "utils.h",
+        "constraints.h",
+        "tests/*",
+    )
+
+    version = "0.0.2"
+
+    def set_version(self):
+        content = load(self, "CMakeLists.txt")
+        match = re.search(r"project\([^\)]*VERSION\s+([0-9]+\.[0-9]+\.[0-9]+)", content, re.MULTILINE | re.DOTALL)
+        if match:
+            self.version = match.group(1).strip()
+
+    def validate(self):
+        check_min_cppstd(self, 17)
+
+    def requirements(self):
+        # Phase 1 scope: migrate viam-cpp-sdk sourcing to Conan.
+        self.requires("viam-cpp-sdk/0.20.1")
+
+    def layout(self):
+        cmake_layout(self, src_folder=".")
+
+    def generate(self):
+        tc = CMakeToolchain(self)
+        tc.variables["VIAM_CSI_ENABLE_TESTS"] = self.options.with_tests
+        tc.generate()
+        CMakeDeps(self).generate()
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def package(self):
+        cmake = CMake(self)
+        cmake.install()

etc/Dockerfile.base

@@ -18,14 +18,10 @@ RUN apt-get -y --no-install-recommends install \
     gnupg \
     gpg \
     less \
-    libboost-all-dev \
-    libgrpc++-dev \
-    libprotobuf-dev \
-    libssl-dev \
     ninja-build \
     pkg-config \
-    protobuf-compiler \
-    protobuf-compiler-grpc \
+    python3-pip \
+    python3-venv \
     software-properties-common \
     sudo \
     wget
@@ -46,21 +42,8 @@ RUN apt-get -y --no-install-recommends install -t llvm-toolchain-jammy-15 \
 
 RUN apt-get -y install cmake
 
-# Install viam-cpp-sdk
-RUN mkdir -p ${HOME}/opt/src
-RUN cd ${HOME}/opt/src && \
-    git clone https://github.com/viamrobotics/viam-cpp-sdk && \
-    cd viam-cpp-sdk && \
-    git checkout releases/v0.19.0 && \
-    mkdir build && \
-    cd build && \
-    cmake .. -G Ninja -DCMAKE_POLICY_VERSION_MINIMUM=3.5 && \
-    ninja all -j 3 && \
-    ninja install -j 3
-
-RUN cp -r ${HOME}/opt/src/viam-cpp-sdk/build/install/* /usr/local/
-
 # Install appimage-builder
+RUN mkdir -p ${HOME}/opt/src
 RUN apt install -y \
     binutils \
     coreutils \