Merge branch 'main' into remove-notice

Author: lia-viam

.github/workflows/docs.yml

@@ -4,8 +4,8 @@ on:
   workflow_dispatch:
   push:
     paths:
-      - 'src/**'
-      - 'README.md'
+      - "src/**"
+      - "README.md"
     branches: [main]
 
 jobs:
@@ -30,7 +30,7 @@ jobs:
         run: doxygen Doxyfile
 
       - name: Upload artifacts
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         with:
           name: html-docs
           path: etc/docs/api/current

.github/workflows/release.yml

@@ -56,7 +56,7 @@ jobs:
 
       - name: Install dependencies
         run: |
-          brew install abseil cmake boost grpc protobuf xtensor
+          brew install cmake boost grpc protobuf xtensor
           brew install pkg-config ninja buf
 
       - name: Setup build directory
@@ -128,7 +128,6 @@ jobs:
               gnupg \
               gpg \
               less \
-              libabsl-dev \
               libboost-all-dev \
               libgrpc++-dev \
               libprotobuf-dev \
@@ -221,7 +220,6 @@ jobs:
               gnupg \
               gpg \
               less \
-              libabsl-dev \
               libboost-all-dev \
               libc-ares-dev \
               libgrpc++-dev \

BUILDING.md

@@ -27,15 +27,15 @@ guide, before continuing further.
 The project depends on [CMake](https://cmake.org/) >= 3.25,
 [Boost](https://www.boost.org/) >= 1.74, [gRPC](https://grpc.io/) >=
 1.30.2, [protobuf](https://protobuf.dev/overview/) >= 3.12.4,
-[xtensor](https://github.com/xtensor-stack/xtensor) >= 0.24.3,
-[abseil](https://abseil.io/) and on the transitive dependencies of
+[xtensor](https://github.com/xtensor-stack/xtensor) >= 0.24.3
+and on the transitive dependencies of
 those projects.
 
 You will need to install these required dependencies before building
 the Viam C++ SDK, preferably by way of your system package manager:
 
-- Debian: `apt-get install cmake build-essential libabsl-dev libboost-all-dev libgrpc++-dev libprotobuf-dev libxtensor-dev`
-- MacOS with Homebrew: `brew install abseil cmake boost grpc protobuf xtensor`
+- Debian: `apt-get install cmake build-essential libboost-all-dev libgrpc++-dev libprotobuf-dev libxtensor-dev`
+- MacOS with Homebrew: `brew install cmake boost grpc protobuf xtensor`
 
 There are also several optional or conditionally required dependencies:
 

CMakeLists.txt

@@ -34,7 +34,7 @@
 # constrained by the version of CMake available on target systems.
 cmake_minimum_required(VERSION 3.25 FATAL_ERROR)
 
-set(CMAKE_PROJECT_VERSION 0.0.16)
+set(CMAKE_PROJECT_VERSION 0.0.21)
 
 # Identify the project.
 project(viam-cpp-sdk
@@ -194,10 +194,8 @@ set(CMAKE_MODULE_PATH
   ${CMAKE_MODULE_PATH}
   ${PROJECT_SOURCE_DIR}/src/viam/cmake
 )
-if (VIAMCPPSDK_BUILD_TESTS OR VIAMCPPSDK_BUILD_EXAMPLES)
-  # We maybe could include this unconditionally, but technically only tests or examples need it
-  include(viamcppsdk_utils)
-endif()
+
+include(viamcppsdk_utils)
 
 
 
@@ -319,17 +317,12 @@ add_custom_target(
 )
 
 
-set(VIAMCPPSDK_ABSL_VERSION_MINIMUM)  # Someday?
 set(VIAMCPPSDK_BOOST_VERSION_MINIMUM 1.71)
 set(VIAMCPPSDK_GRPC_VERSION_MINIMUM 1.30.2)
 set(VIAMCPPSDK_PROTOBUF_VERSION_MINIMUM 3.12.4)
 set(VIAMCPPSDK_XTL_VERSION_MINIMUM 0.7.2)
 set(VIAMCPPSDK_XTENSOR_VERSION_MINIMUM 0.24.3)
 
-# Time to find absl. Note that the version min value is currently empty,
-# because absl doesn't use a versioning scheme that works here.
-find_package(absl ${VIAMCPPSDK_ABSL_VERSION_MINIMUM} REQUIRED)
-
 # Time to find `BOOST`.
 find_package(Boost ${VIAMCPPSDK_BOOST_VERSION_MINIMUM} REQUIRED COMPONENTS headers log program_options)
 
@@ -430,6 +423,10 @@ if ((VIAMCPPSDK_GRPCXX_VERSION VERSION_GREATER 1.51.1) AND (VIAMCPPSDK_PROTOC_VE
   set(VIAMCPPSDK_BUF_REMOTE_PLUGIN_SUPPORTED 1)
 endif()
 
+if (VIAMCPPSDK_GRPCXX_VERSION VERSION_LESS 1.32.0)
+  set(VIAMCPPSDK_GRPCXX_LEGACY_FWD 1)
+endif()
+
 include(FetchContent)
 
 FetchContent_Declare(

conanfile.py

@@ -47,11 +47,11 @@ def requirements(self):
 
         # The SDK supports older grpc and protobuf, but these are the oldest
         # maintained conan packages.
-        self.requires('grpc/[>=1.48.4]', transitive_headers=True)
-        self.requires('protobuf/[>=3.17.1]', transitive_headers=True)
+        self.requires('grpc/[>=1.48.4]')
+        self.requires('protobuf/[>=3.17.1]')
 
         self.requires('xtensor/[>=0.24.3]')
-        self.requires('abseil/[>=20230125.3]', transitive_libs=True)
+        self.requires('abseil/[>=20230125.3]')
 
     def build_requirements(self):
         if self.options.offline_proto_generation:
@@ -94,6 +94,8 @@ def package_info(self):
            if self.settings.os in ["Linux", "FreeBSD"]:
             self.cpp_info.components[component].system_libs = ["pthread"]
 
+        self.cpp_info.components["viamapi"].requires.append("abseil::absl_strings")
+
         if self.settings.os in ["Linux", "FreeBSD"]:
             self.cpp_info.components["viamsdk"].system_libs.extend(["dl", "rt"])
 
@@ -112,15 +114,14 @@ def package_info(self):
             self.cpp_info.components["viamapi"].sharedlinkflags.append(whole_archive)
 
         self.cpp_info.components["viamsdk"].requires.extend([
-            "viamapi",
             "boost::headers",
             "boost::log",
             "grpc::grpc++_reflection",
             "protobuf::libprotobuf",
             "xtensor::xtensor",
 
-            "viam_rust_utils",
-            "abseil::absl_strings",
+            "viamapi",
+            "viam_rust_utils"
         ])
 
         self.cpp_info.components["viamsdk"].frameworks = ["Security"]

etc/docker/base-images/Dockerfile.debian.bookworm

@@ -19,7 +19,6 @@ RUN apt-get -y --no-install-recommends install \
     gnupg \
     gpg \
     less \
-    libabsl-dev \
     libboost-all-dev \
     libgrpc++-dev \
     libprotobuf-dev \

etc/docker/base-images/Dockerfile.debian.bullseye

@@ -18,7 +18,6 @@ RUN apt-get -y --no-install-recommends install \
     gnupg \
     gpg \
     less \
-    libabsl-dev \
     libboost-all-dev \
     libgrpc++-dev \
     libprotobuf-dev \

etc/docker/base-images/Dockerfile.debian.sid

@@ -19,7 +19,6 @@ RUN apt-get -y --no-install-recommends install \
     gnupg \
     gpg \
     less \
-    libabsl-dev \
     libboost-all-dev \
     libgrpc++-dev \
     libprotobuf-dev \

etc/docker/base-images/Dockerfile.ubuntu.jammy

@@ -18,7 +18,6 @@ RUN apt-get -y --no-install-recommends install \
     gnupg \
     gpg \
     less \
-    libabsl-dev \
     libboost-all-dev \
     libgrpc++-dev \
     libprotobuf-dev \

src/viam/cmake/viamcppsdk_utils.cmake

@@ -17,3 +17,11 @@ function(viamcppsdk_add_boost_test SOURCE_FILE_NAME)
       COMMAND ${TEST_EXECUTABLE_NAME} --catch_system_error=yes)
   endforeach()
 endfunction()
+
+function(viamcppsdk_link_viam_api TARGET_LIBRARY)
+  if (BUILD_SHARED_LIBS)
+    target_link_libraries(${TARGET_LIBRARY} ${ARGV1} viam-cpp-sdk::viamapi)
+  else()
+    target_link_libraries(${TARGET_LIBRARY} ${ARGV1} "$<LINK_LIBRARY:WHOLE_ARCHIVE,viam-cpp-sdk::viamapi>")
+  endif()
+endfunction()