Merge branch 'main' into fix-module-log-formatting

Author: stuqdog

.github/workflows/test.yml

@@ -10,12 +10,27 @@ jobs:
     runs-on: ubuntu-latest
     container:
       image: ghcr.io/viamrobotics/canon:amd64
+    strategy:
+      matrix:
+        include:
+          - BUILD_SHARED: ON
+          - BUILD_SHARED: OFF
     steps:
       - uses: actions/checkout@v4
       ###########################################
       #     necessary installs for building     #
       ###########################################
       - name: build-docker-test
         run: |
-          docker build -t cpp . -f etc/docker/tests/Dockerfile.debian.bullseye
-          docker run --rm -i -w /tmp cpp /bin/bash
+          docker build -t cpp . -f etc/docker/base-images/Dockerfile.debian.bullseye
+          docker build -t cpp-test . -f etc/docker/Dockerfile.sdk-build \
+            --build-arg BASE_TAG=cpp \
+            --build-arg REPO_SETUP=copy \
+            --build-arg BUILD_SHARED=${{ matrix.BUILD_SHARED }} \
+            --build-arg BUILD_TESTS=ON \
+            --build-arg BUILD_EXAMPLES=ON \
+            --build-arg "EXTRA_CMAKE_ARGS=\
+              -DVIAMCPPSDK_CLANG_TIDY=ON \
+              -DVIAMCPPSDK_SANITIZED_BUILD=${{ matrix.BUILD_SHARED }}"
+
+          docker run -w /viam-cpp-sdk/build -t --entrypoint /viam-cpp-sdk/etc/docker/tests/run_test.sh cpp-test /bin/bash

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 0.0.12)
+set(CMAKE_PROJECT_VERSION 0.0.13)
 
 # Identify the project.
 project(viam-cpp-sdk
@@ -51,7 +51,9 @@ project(viam-cpp-sdk
 #
 # Enabled by default so that we produce a
 # modern SDK, this option can be set to `OFF` to build a static
-# library. Note that this may result in non-functional examples.
+# library.
+# Note that the pkg-config files installed by the project do not work
+# for a static build; please use Conan for more robust pkg-config support.
 #
 option(BUILD_SHARED_LIBS "If enabled, build shared libraries" ON)
 
@@ -129,14 +131,8 @@ option(VIAMCPPSDK_CLANG_TIDY "Run the clang-tidy linter" OFF)
 
 # The following options are only defined if this project is not being included as a subproject
 if (CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR)
-  include(CMakeDependentOption)
-  option(VIAMCPPSDK_BUILD_EXAMPLES "Build the example executables (requires building tests too)" ON)
-
-  # Note that the complex module example requires the testing library and adds its tests to the unit
-  # test suite. Thus you can only disable tests if examples are also disabled.
-  # The call below says don't give the user the option to disable tests unless examples are already
-  # disabled, and default to building the tests in either case.
-  cmake_dependent_option(VIAMCPPSDK_BUILD_TESTS "Build the unit test suite" ON "NOT VIAMCPPSDK_BUILD_EXAMPLES" ON)
+  option(VIAMCPPSDK_BUILD_EXAMPLES "Build the example executables" ON)
+  option(VIAMCPPSDK_BUILD_TESTS "Build the example executables" ON)
 endif()
 
 

conanfile.py

@@ -1,6 +1,8 @@
 from conan import ConanFile
 from conan.tools.cmake import CMake, CMakeDeps, CMakeToolchain, cmake_layout
 from conan.tools.files import load
+from conan.tools.apple import is_apple_os
+import os
 import re
 
 class ViamCppSdkRecipe(ConanFile):
@@ -81,9 +83,10 @@ def package(self):
 
     def package_info(self):
         self.cpp_info.components["viam_rust_utils"].libs = ["viam_rust_utils"]
+        
+        self.cpp_info.components["viamsdk"].libs = ["viamsdk"]
 
         for component in ["viamsdk", "viamapi"]:
-           self.cpp_info.components[component].libs = [component]
            self.cpp_info.components[component].set_property("cmake_target_name", "viam-cpp-sdk::{}".format(component))
            self.cpp_info.components[component].set_property("pkg_config_name", "viam-cpp-sdk-lib{}".format(component))
            self.cpp_info.components[component].requires = ["grpc::grpc++", "protobuf::libprotobuf"]
@@ -95,6 +98,18 @@ def package_info(self):
 
         self.cpp_info.components["viamapi"].includedirs.append("include/viam/api")
 
+        if self.options.shared:
+            self.cpp_info.components["viamapi"].libs = ["viamapi"]
+        else:
+            lib_folder = os.path.join(self.package_folder, "lib")
+            lib_fullpath = os.path.join(lib_folder, "libviamapi.a")
+            if is_apple_os(self):
+                whole_archive = f"-Wl,-force_load,{lib_fullpath}"
+            else:
+                whole_archive = f"-Wl,--push-state,--whole-archive,{lib_fullpath},--pop-state"
+            self.cpp_info.components["viamapi"].exelinkflags.append(whole_archive)
+            self.cpp_info.components["viamapi"].sharedlinkflags.append(whole_archive)
+
         self.cpp_info.components["viamsdk"].requires.extend([
             "viamapi",
             "boost::headers",

etc/docker/Dockerfile.sdk-build

@@ -0,0 +1,47 @@
+# This Dockerfile is meant to be built on top of an existing image from the base-images directory.
+# Suggested usage, from the SDK root:
+#   docker build -t base/bullseye -f etc/docker/base-images/Dockerfile.debian.bullseye .
+#   docker build --build-arg BASE_TAG=base/bullseye --build-arg GIT_TAG=[...] etc/docker/Dockerfile.sdk-build .
+# You can substitute the bullseye image for whichever you want to use as a base.
+# Note that it is necessary to tag the base image with `-t` and then refer to it using the `BASE_TAG` arg.
+
+ARG REPO_SETUP=git
+
+ARG BASE_TAG
+
+# See https://stackoverflow.com/a/54245466 for the trick used below
+# The two possible branches are repo_setup_git and repo_setup_copy, which are conditionally executed
+# using ARG REPO_SETUP
+
+FROM ${BASE_TAG} AS repo_setup_git
+ARG GIT_TAG
+ONBUILD RUN echo "Checking if GIT_TAG is set" && test -n "${GIT_TAG}"
+ONBUILD RUN git clone https://github.com/viamrobotics/viam-cpp-sdk/ -b ${GIT_TAG}
+
+FROM ${BASE_TAG} AS repo_setup_copy
+ONBUILD COPY . /viam-cpp-sdk/
+
+FROM repo_setup_${REPO_SETUP}
+ENV DEBIAN_FRONTEND=noninteractive
+
+ARG BUILD_TYPE=RelWithDebInfo
+ARG BUILD_SHARED=ON
+ARG BUILD_TESTS=OFF
+ARG BUILD_EXAMPLES=OFF
+ARG EXTRA_CMAKE_ARGS
+
+WORKDIR /viam-cpp-sdk
+
+RUN mkdir build && \
+    cd build && \
+    cmake .. -G Ninja \
+    -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
+    -DBUILD_SHARED_LIBS=${BUILD_SHARED} \
+    -DVIAMCPPSDK_OFFLINE_PROTO_GENERATION=ON \
+    -DVIAMCPPSDK_BUILD_TESTS=${BUILD_TESTS} \
+    -DVIAMCPPSDK_BUILD_EXAMPLES=${BUILD_EXAMPLES} \
+    ${EXTRA_CMAKE_ARGS}
+
+RUN cmake --build build --target install && \
+    cmake --install build
+