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Merge branch 'main' into make-mlmodel-server-less-restrictive
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‎.github/workflows/conan.yml‎

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name: Test conan packages
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on:
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# Runs for PRs that directly change conan code, and weekdays at 11:15pm UTC.
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# Additional logic in the prepare job below makes it so scheduled builds only run
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# on new commits.
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schedule:
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- cron: "15 11 * * 1-5"
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workflow_dispatch:
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pull_request:
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paths:
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- conanfile.py
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- test_package/conanfile.py
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jobs:
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prepare:
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if: github.repository_owner == 'viamrobotics'
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runs-on: ubuntu-latest
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steps:
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- name: Checkout Code
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uses: actions/checkout@v4
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- name: Get current git info
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if: github.event_name == 'schedule'
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id: git_info
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run: |
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echo "current_commit=$(git rev-parse HEAD)" >> $GITHUB_OUTPUT
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echo "current_branch=$(git branch --show-current)" >> $GITHUB_OUTPUT
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- name: Get last successful commit
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if: github.event_name == 'schedule'
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id: last_successful_commit
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uses: tylermilner/last-successful-commit-hash-action@v1
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with:
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branch: main
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workflow-id: conan.yml
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github-token: ${{ github.token }}
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- name: Cancel scheduled build with no new commits
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uses: andymckay/[email protected]
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if: |
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github.event_name == 'schedule' &&
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steps.git_info.outputs.current_commit == steps.last_successful_commit.outputs.commit-hash
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build_macos:
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if: github.repository_owner == 'viamrobotics'
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needs: [prepare]
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runs-on: macos-latest
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strategy:
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fail-fast: false
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matrix:
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include:
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- target: aarch64-apple-darwin
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platform: macosx_arm64
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- target: x86_64-apple-darwin
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platform: macosx_x86_64
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steps:
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- name: Checkout Code
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uses: actions/checkout@v4
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- name: Install dependencies
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run: |
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brew install cmake
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brew install python ninja buf
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python -m pip install conan
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- name: Create package
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run: |
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# `buf` tries to read a CLI config file that we don't actually use located at
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# ~/.config/buf/config.yaml. We don't always have permission to access this
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# directory in CI, so we set the `BUF_CONFIG_DIR` to some other value that we
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# do have permissions for. See https://github.com/bufbuild/buf/issues/2698 for
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# more details.
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export BUF_CONFIG_DIR=$(mktemp -d)
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conan profile detect
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conan create . --build=missing -s compiler.cppstd=17
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build_linux_ubuntu_jammy:
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if: github.repository_owner == 'viamrobotics'
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needs: [prepare]
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runs-on: ${{ matrix.runs_on }}
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container:
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image: ${{ matrix.image }}
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strategy:
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fail-fast: false
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matrix:
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include:
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- target: aarch64-ubuntu-jammy-gnu
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platform: linux_aarch64-ubuntu-jammy
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image: ubuntu:22.04
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runs_on: buildjet-8vcpu-ubuntu-2204-arm
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- target: x86_64-ubuntu-jammy-gnu
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platform: linux_x86_64-ubuntu-jammy
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image: ubuntu:22.04
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runs_on: buildjet-8vcpu-ubuntu-2204
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steps:
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- name: Checkout Code
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uses: actions/checkout@v4
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- name: Install dependencies
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run: |
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apt-get update
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apt-get -y dist-upgrade
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DEBIAN_FRONTEND=noninteractive apt-get -y --no-install-recommends install \
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build-essential \
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ca-certificates \
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curl \
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doxygen \
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g++ \
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gdb \
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gnupg \
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gpg \
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less \
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ninja-build \
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python3 \
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python3-pip \
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software-properties-common \
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sudo \
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wget \
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sudo wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | sudo gpg --dearmor - | sudo tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null
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sudo echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ jammy main' | sudo tee /etc/apt/sources.list.d/kitware.list >/dev/null
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apt-get update
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apt-get -y install cmake
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pip install conan
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- name: Create package
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shell: bash
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run: |
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conan profile detect
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conan create . --build=missing -s compiler.cppstd=14
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build_linux_debian:
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if: github.repository_owner == 'viamrobotics'
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needs: [prepare]
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runs-on: ${{ matrix.runs_on }}
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container:
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image: ${{ matrix.image }}
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strategy:
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fail-fast: false
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matrix:
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include:
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- target: aarch64-debian-bullseye
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platform: linux_aarch64-debian-bullseye
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image: debian:bullseye
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runs_on: buildjet-8vcpu-ubuntu-2204-arm
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- target: x86_64-debian-bullseye
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platform: linux_x86_64-debian-bullseye
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image: debian:bullseye
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runs_on: buildjet-8vcpu-ubuntu-2204
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- target: aarch64-debian-bookworm
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platform: linux_aarch64-debian-bookworm
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image: debian:bookworm
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runs_on: buildjet-8vcpu-ubuntu-2204-arm
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- target: x86_64-debian-bookworm
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platform: linux_x86_64-debian-bookworm
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image: debian:bookworm
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runs_on: buildjet-8vcpu-ubuntu-2204
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steps:
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- name: Checkout Code
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uses: actions/checkout@v4
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- name: Install dependencies
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run: |
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apt-get update
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apt-get -y dist-upgrade
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DEBIAN_FRONTEND=noninteractive apt-get -y --no-install-recommends install \
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build-essential \
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ca-certificates \
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cmake \
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curl \
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g++ \
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gdb \
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gnupg \
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gpg \
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less \
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ninja-build \
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python3 \
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python3-pip \
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python3-venv \
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software-properties-common \
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sudo \
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wget
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- name: Update CMake for bullseye
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if: ${{ matrix.image == 'debian:bullseye' }}
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run: |
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apt-add-repository -y 'deb http://deb.debian.org/debian bullseye-backports main'
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apt-get update
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apt-get -y install cmake
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apt-get -y --no-install-recommends install -t bullseye-backports cmake
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# Note bullseye can use regular pip + conan no problem, but
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# bookworm is a managed environment, so we use a venv in both because it is more
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# trouble to bifurcate them.
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- name: Install conan in venv and create package
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shell: bash
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run: |
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python3 -m venv ./conan_venv
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source ./conan_venv/bin/activate
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pip install conan
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conan profile detect
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conan create . --build=missing -s compiler.cppstd=14

‎.github/workflows/docker.yml‎

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on:
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workflow_dispatch:
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inputs:
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image-prefix:
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description: "gets suffixed with 'base' and 'sdk' to create actual image name"
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default: ghcr.io/viamrobotics/cpp-
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dockerfile:
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default: Dockerfile.debian.bullseye
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tag:
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default: bullseye-amd64
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build-base:
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description: "whether to build the base image. the base images change less often and may not be necessary to rebuild."
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type: boolean
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default: false
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build-sdk:
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description: "whether to build the SDK image. if this is true and no corresponding base image exists, the job will fail."
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type: boolean
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default: false
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push:
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description: "whether to push the images after building them"
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type: boolean
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default: false
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jobs:
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build-container:
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runs-on: ubuntu-latest
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permissions:
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contents: read
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packages: write
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steps:
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- uses: actions/checkout@v4
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- uses: docker/login-action@v3
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with:
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registry: ghcr.io
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username: ${{ github.actor }}
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password: ${{ secrets.GITHUB_TOKEN }}
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# build base (if inputs.build-base)
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- uses: docker/metadata-action@v5
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id: base-meta
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if: inputs.build-base
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with:
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images: ${{ inputs.image-prefix }}base
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- uses: docker/build-push-action@v5
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if: inputs.build-base
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with:
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push: ${{ inputs.push }}
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tags: "${{ inputs.image-prefix }}base:${{ inputs.tag }}"
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file: etc/docker/base-images/${{ inputs.dockerfile }}
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labels: ${{ steps.base-meta.output.labels }}
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# build sdk (if inputs.build-sdk)
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- uses: docker/metadata-action@v5
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id: sdk-meta
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if: inputs.build-sdk
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with:
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images: ${{ inputs.image-prefix }}sdk
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- uses: docker/build-push-action@v5
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if: inputs.build-sdk
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with:
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build-args: |
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BASE_TAG=${{ inputs.image-prefix }}base:${{ inputs.tag }}
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push: ${{ inputs.push }}
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tags: "${{ inputs.image-prefix }}sdk:${{ inputs.tag }}"
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file: etc/docker/Dockerfile.sdk-build
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labels: ${{ steps.sdk-meta.output.labels }}

‎.github/workflows/docs.yml‎

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

‎.github/workflows/linter.yml‎

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name: cpp-linter
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on: pull_request
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on:
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pull_request:
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workflow_dispatch:
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jobs:
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cpp-linter:
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if: github.repository_owner == 'viamrobotics'
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runs-on: ubuntu-latest
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container:
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image: ghcr.io/viamrobotics/canon:amd64
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container: ghcr.io/viamrobotics/cpp-base:bullseye-amd64
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steps:
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- name: Checkout Code
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uses: actions/checkout@v4
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with:
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fetch-depth: 0
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- name: install clang-format
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run: sudo apt install -y clang-format
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- name: verify no uncommitted changes
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run: |
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chown $(whoami) .
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git init
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git add .
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chown -R testbot .
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sudo -u testbot bash -lc 'sh ./bin/run-clang-format.sh'
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./bin/run-clang-format.sh
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GEN_DIFF=$(git status -s)
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if [ -n "$GEN_DIFF" ]; then

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