Merge branch 'main' into RSDK-10680-support-commented-code-samples

Author: stuqdog

.github/workflows/conan.yml

@@ -213,3 +213,34 @@ jobs:
           --tool-requires=b2/5.3.1 --build=b2/5.3.1 -s compiler.cppstd=14 -s:a compiler.cppstd=14
 
           conan create . --build=missing -s compiler.cppstd=14 -s:a compiler.cppstd=14
+
+  build_windows:
+    if: github.repository_owner == 'viamrobotics'
+    needs: [prepare]
+    runs-on: windows-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - target: x86_64-windows
+            platform: windows_x86_64
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ needs.prepare.outputs.sha }}
+
+      - name: Install dependencies
+        run: choco install -y conan git
+
+      - name: Create package
+        shell: powershell
+        run: |
+          Import-Module $env:ChocolateyInstall\helpers\chocolateyProfile.psm1
+          refreshenv
+          conan profile detect
+          conan create . --build=missing -o "&:shared=False"
+        env:
+          CONAN_USER_HOME: c:/cache
+          CONAN_USER_HOME_SHORT: c:/cache/conan_shortpaths
+

.github/workflows/release.yml

@@ -36,6 +36,53 @@ jobs:
         uses: andymckay/[email protected]
         if: steps.release_exists.outputs.id != ''
 
+  build_windows:
+    if: github.repository_owner == 'viamrobotics'
+    needs: [prepare]
+    runs-on: windows-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - target: x86_64-windows
+            platform: windows_x86_64
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ needs.prepare.outputs.sha }}
+
+      - name: Install dependencies
+        run: choco install -y conan git
+
+      - name: Create package
+        shell: powershell
+        # TODO (RSDK-10666) Use conan invocations rather than cmake invocations here
+        run: |
+          Import-Module $env:ChocolateyInstall\helpers\chocolateyProfile.psm1
+          refreshenv
+          conan profile detect
+          conan install . --output-folder=build-conan --build=missing -o "&:shared=False"
+          cmake . --preset conan-default
+          cmake --build --preset=conan-release --target ALL_BUILD install -j 8
+        env:
+          CONAN_USER_HOME: c:/cache
+          CONAN_USER_HOME_SHORT: c:/cache/conan_shortpaths
+
+      - name: Copy
+        run: |
+          cmake --install build-conan/build --prefix builds/viam-cpp-sdk-${{ matrix.platform }}
+
+      - name: Create tar
+        run: |
+          tar -czvf builds/viam-cpp-sdk-${{ matrix.platform }}.tar.gz builds/viam-cpp-sdk-${{ matrix.platform }}
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: viam-cpp-sdk-${{ matrix.platform }}.tar.gz
+          path: builds/viam-cpp-sdk-${{ matrix.platform }}.tar.gz
+
   build_macos:
     if: github.repository_owner == 'viamrobotics'
     needs: [prepare]

.github/workflows/test.yml

@@ -2,14 +2,17 @@ name: Test
 
 on:
   pull_request:
+    paths-ignore:
+      - conanfile.py
+      - '**.md'
   workflow_dispatch:
     inputs:
       no-tidy:
         type: boolean
         description: set to true to build without clang-tidy (2x faster)
 
 jobs:
-  run-tests:
+  test_ubuntu:
     if: github.repository_owner == 'viamrobotics'
     runs-on: ubuntu-latest
     container: ghcr.io/viamrobotics/cpp-base:bullseye-amd64
@@ -39,3 +42,40 @@ jobs:
       - name: test
         working-directory: build
         run: ../etc/docker/tests/run_test.sh
+  test_windows:
+    if: github.repository_owner == 'viamrobotics'
+    runs-on: windows-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - target: x86_64-windows
+            platform: windows_x86_64
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ needs.prepare.outputs.sha }}
+
+      - name: Install dependencies
+        run: choco install -y conan git
+
+      - name: Build SDK
+        shell: powershell
+        run: |
+          Import-Module $env:ChocolateyInstall\helpers\chocolateyProfile.psm1
+          refreshenv
+          conan profile detect
+          conan install . --build=missing -o "&:shared=False"
+          cmake . --preset conan-default -DVIAMCPPSDK_BUILD_EXAMPLES=ON
+          cmake --build --preset=conan-release --target ALL_BUILD install -j 8
+        env:
+          CONAN_USER_HOME: c:/cache
+          CONAN_USER_HOME_SHORT: c:/cache/conan_shortpaths
+
+      - name: Test examples
+        shell: powershell
+        run: |
+          Start-Job -Init ([ScriptBlock]::Create("Set-Location '$pwd/build/install/bin'")) -ScriptBlock { .\simple_module.exe asdf 2>&1 > output.txt} | Wait-Job -Timeout 2 | Receive-Job
+          if (-not $(Select-String -Pattern "Module listening" -Path ./build/install/bin/output.txt)) { throw "Module did not start listening" }
+

.gitignore

@@ -5,7 +5,9 @@
 /build/*
 
 # For now, ignore any viam_rust_utils library in the root.
+# The `lib` prefix is on unix-based systems only
 /libviam_rust_utils*
+/viam_rust_utils*
 
 # Ignore clang cache.
 /.cache/

BUILDING.md

@@ -260,6 +260,23 @@ have a different version of `protoc` available in your `PATH`, it will
 silently fail and later cause compilation failures due to protobuf
 version mismatches.
 
+## Building for ARM Windows
+
+The C++ SDK works well on windows for both client and module code 
+provided there is internet connectivity. However, some manual work is
+required to build for client code on ARM64 architecture.
+
+1. (client code only) clone [rust-utils](https://github.com/viamrobotics/rust-utils) >= v0.3.0 and
+build locally with `cargo build --release`. Copy `target\release\viam_rust_utils.lib`
+to the root of the C++ SDK directory.
+2. Ensure `conan` is installed (see `Building with Conan` above).
+3. Run the following:
+```
+conan profile detect
+cmake . --preset conan-default <cmake args>
+cmake --build --preset=conan-release -j
+```
+
 ## Options to Configure or Customize the Build
 
 ### Options for Package Search

CMakeLists.txt

@@ -41,7 +41,7 @@ else()
   cmake_minimum_required(VERSION 3.25 FATAL_ERROR)
 endif()
 
-set(CMAKE_PROJECT_VERSION 0.11.0)
+set(CMAKE_PROJECT_VERSION 0.15.0)
 
 # Identify the project.
 project(viam-cpp-sdk
@@ -266,14 +266,20 @@ if (viam_rust_utils_files)
     ${viam_rust_utils_file}
     ONLY_IF_DIFFERENT
   )
-elseif(NOT WIN32) # TODO(RSDK-10366): Currently, rust_utils is not published for windows, so don't even try downloading
+elseif(NOT WIN32 OR ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64")
   set(lvru_system_name ${CMAKE_SYSTEM_NAME})
   if (CMAKE_SYSTEM_NAME STREQUAL "Darwin")
     set(lvru_system_name "macosx")
   endif()
+
+  set(lvru_system_processor ${CMAKE_SYSTEM_PROCESSOR})
+  if(WIN32)
+    set(lvru_system_processor "x86_64")
+  endif()
+
   file(
     DOWNLOAD
-    https://github.com/viamrobotics/rust-utils/releases/latest/download/${CMAKE_SHARED_LIBRARY_PREFIX}viam_rust_utils-${lvru_system_name}_${CMAKE_SYSTEM_PROCESSOR}${CMAKE_STATIC_LIBRARY_SUFFIX}
+    https://github.com/viamrobotics/rust-utils/releases/latest/download/${CMAKE_SHARED_LIBRARY_PREFIX}viam_rust_utils-${lvru_system_name}_${lvru_system_processor}${CMAKE_STATIC_LIBRARY_SUFFIX}
     ${viam_rust_utils_file}
     STATUS lvru_status
   )
@@ -283,24 +289,21 @@ elseif(NOT WIN32) # TODO(RSDK-10366): Currently, rust_utils is not published for
   if(NOT lvru_status_code EQUAL 0)
     message(FATAL_ERROR "No local viam_rust_utils found and failed to download: ${lvru_status_string}")
   endif()
-
+else()
+    message(WARNING "Currently running on Windows with no rust-utils file. Module code should work as expected, but client code may fail unexpectedly.")
 endif()
 
-# TODO(RSDK-10366): Currently, rust_utils is not published for windows, so don't even declare the library
-if (NOT WIN32)
-  add_library(viam_rust_utils SHARED IMPORTED)
-
+if (NOT WIN32 OR ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64")
+  add_library(viam_rust_utils STATIC IMPORTED)
   target_link_directories(viam_rust_utils
     INTERFACE
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>"
     "$<INSTALL_INTERFACE:${CMAKE_INSTALL_LIBDIR}>"
   )
-
   set_property(TARGET viam_rust_utils PROPERTY IMPORTED_LOCATION ${viam_rust_utils_file})
 
   install(
-    IMPORTED_RUNTIME_ARTIFACTS viam_rust_utils
-    LIBRARY COMPONENT viam-cpp-sdk_runtime
+    FILES ${viam_rust_utils_file} DESTINATION ${CMAKE_INSTALL_LIBDIR} COMPONENT viam-cpp-sdk_runtime
   )
 endif()
 

README.md

@@ -37,7 +37,7 @@ docker build --build-arg BASE_TAG=base/bullseye --build-arg GIT_TAG=[...] -f etc
 ```
 
 This will use `base/bullseye` as a base to build the SDK version provided in `GIT_TAG`,
-which should be a tagged release version. The SDK will be cloned from 
+which should be a tagged release version. The SDK will be cloned from
 https://github.com/viamrobotics/viam-cpp-sdk/. This is the recommended approach for
 C++ module development, which should generally be done against a tagged release.
 
@@ -47,22 +47,22 @@ docker build --build-arg BASE_TAG=base/bullseye --build-arg REPO_SETUP=copy -f e
 ```
 
 Note the use of the build argument `REPO_SETUP=copy`, which adds a Docker instruction
-to copy the SDK repo from the current working directory, rather than cloning from 
+to copy the SDK repo from the current working directory, rather than cloning from
 GitHub. This approach may make more sense for developing on the SDK itself, or if
 your C++ SDK development relies on a localversion of the SDK.
 
 The examples above illustrated the use of several `--build-arg` arguments, namely
-`BASE_TAG`, `GIT_TAG`, and `REPO_SETUP`. Please see 
+`BASE_TAG`, `GIT_TAG`, and `REPO_SETUP`. Please see
 [Dockerfile.sdk-build](etc/docker/Dockerfile.sdk-build) for a complete account of
 all build arguments and their defaults.
 
 ## Building Documentation Locally for Testing
 The C++ sdk uses [Doxygen](https://www.doxygen.nl/) to generate documentation.
 An automated workflow will generate and update our documentation on each merge,
-and publish it to [cpp.viam.dev](https://cpp.viam.dev). 
+and publish it to [cpp.viam.dev](https://cpp.viam.dev).
 
 Generating documentation locally to observe changes while developing with the
-C++ SDK is simple. 
+C++ SDK is simple.
 First, make sure doxygen is installed, e.g.,
 ```
 (on mac) brew install doxygen
@@ -91,12 +91,26 @@ quickly as possible.
 ## A note on logging
 
 Users should only interact with logging via the macros, classes, and functions in
-[`viam/sdk/log/logging.hpp`](src/viam/sdk/log/logging.hpp). Logging is 
+[`viam/sdk/log/logging.hpp`](src/viam/sdk/log/logging.hpp). Logging is
 implemented using Boost.Log, but this is an implementation detail subject
 to change without warning. In particular, using Boost.Log macros such as
-`BOOST_LOG_TRIVIAL` or `BOOST_LOG_SEV` is undefined behavior which will likely 
+`BOOST_LOG_TRIVIAL` or `BOOST_LOG_SEV` is undefined behavior which will likely
 fail to output log messages.
 
+## Running Tests
+Tests for the SDK are located in `src/viam/sdk/tests`. The CMakeLists.txt file in that directory defines how to build them. When the SDK is built, the test executables are placed in the test folder within your specified build directory (e.g., `build`, if you followed the instructions in [`BUILDING.md`](https://github.com/viamrobotics/viam-cpp-sdk/blob/main/BUILDING.md)). The test executable files can be run individually. To run the entire test suite at once, navigate to the `tests` folder in your build directory and run:
+```
+ctest
+```
+Or to avoid navigating all the way to the folder you can specify the test directory, for example:
+```
+ctest --test-dir build/src/viam/sdk/tests/
+```
+Additionally, for more useful ctest options explore:
+```
+ctest --help
+```
+
 ## License
 Copyright 2022 Viam Inc.
 

conanfile.py

@@ -1,5 +1,6 @@
 from conan import ConanFile
 from conan.tools.cmake import CMake, CMakeDeps, CMakeToolchain, cmake_layout
+from conan.tools.build import valid_max_cppstd
 from conan.tools.files import load
 from conan.tools.apple import is_apple_os
 import os
@@ -42,19 +43,36 @@ def configure(self):
             for lib in ["grpc", "protobuf", "abseil"]:
                 self.options[lib].shared = True
 
+    def _xtensor_requires(self):
+        if valid_max_cppstd(self, 14, False):
+            return 'xtensor/[>=0.24.3 <0.26.0]'
+        
+        return 'xtensor/[>=0.24.3]'
+
+    def _grpc_requires(self):
+        if valid_max_cppstd(self, 14, False):
+            return 'grpc/[>=1.48.4 <1.70.0]'
+        
+        return 'grpc/[>=1.48.4]'
+
     def requirements(self):
-        self.requires('boost/[>=1.74.0]', transitive_headers=True)
+        if self.settings.os == "Windows":
+            # This is temporary pending the resolution of a windows compilation
+            # issue on boost 1.88.0
+            self.requires('boost/[>=1.74.0 <1.88.0]', transitive_headers=True)
+        else:
+            self.requires('boost/[>=1.74.0]', transitive_headers=True)
 
         # The SDK supports older grpc and protobuf, but these are the oldest
         # maintained conan packages.
-        self.requires('grpc/[>=1.48.4]')
-        self.requires('protobuf/[>=3.17.1]')
-        self.requires('xtensor/[>=0.24.3]', transitive_headers=True)
+        self.requires(self._grpc_requires())
+        self.requires('protobuf/[>=3.17.1 <6.30.0]')
+        self.requires(self._xtensor_requires(), transitive_headers=True)
 
     def build_requirements(self):
         if self.options.offline_proto_generation:
-            self.tool_requires('grpc/[>=1.48.4]')
-            self.tool_requires('protobuf/[>=3.17.1]')
+            self.tool_requires(self._grpc_requires())
+            self.tool_requires('protobuf/[>=3.17.1 <6.30.0]')
 
     def layout(self):
         cmake_layout(self)
@@ -91,10 +109,7 @@ def package(self):
 
     def package_info(self):
 
-        # TODO(RSDK-10366): Currently, rust_utils is not published for windows
-        # and the C++ SDK just doesn't include it as a dependency on that platform
-        if not self.settings.os == "Windows":
-            self.cpp_info.components["viam_rust_utils"].libs = ["viam_rust_utils"]
+        self.cpp_info.components["viam_rust_utils"].libs = ["viam_rust_utils"]
 
         self.cpp_info.components["viamsdk"].libs = ["viamsdk"]
 
@@ -107,6 +122,8 @@ def package_info(self):
 
         if self.settings.os in ["Linux", "FreeBSD"]:
             self.cpp_info.components["viamsdk"].system_libs.extend(["dl", "rt"])
+        elif self.settings.os == "Windows":
+            self.cpp_info.components["viamsdk"].system_libs.extend(["ncrypt", "secur32", "ntdll", "userenv"])
 
         self.cpp_info.components["viamapi"].includedirs.append("include/viam/api")
 
@@ -137,11 +154,8 @@ def package_info(self):
             "viamapi",
         ])
 
-        # TODO(RSDK-10366): Currently, rust_utils is not published for windows
-        # and the C++ SDK just doesn't include it as a dependency on that platform
-        if self.settings.os != "Windows":
-            self.cpp_info.components["viamsdk"].requires.extend([
-                "viam_rust_utils"
-            ])
+        self.cpp_info.components["viamsdk"].requires.extend([
+            "viam_rust_utils"
+        ])
 
         self.cpp_info.components["viamsdk"].frameworks = ["Security"]