Merge branch 'main' of github.com:viamrobotics/viam-cpp-sdk into logger

Author: lia-viam

.github/workflows/conan.yml

@@ -11,6 +11,7 @@ on:
     paths:
       - conanfile.py
       - test_package/conanfile.py
+      - .github/workflows/conan.yml
 
 jobs:
   prepare:
@@ -100,6 +101,8 @@ jobs:
           apt-get update
           apt-get -y dist-upgrade
           DEBIAN_FRONTEND=noninteractive apt-get -y --no-install-recommends install \
+              autoconf \
+              automake \
               build-essential \
               ca-certificates \
               curl \
@@ -120,15 +123,15 @@ jobs:
           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
 
           apt-get update
-          apt-get -y install cmake
+          apt-get -y install cmake=3.25.2-0kitware1ubuntu22.04.1 cmake-data=3.25.2-0kitware1ubuntu22.04.1
 
           pip install conan
 
       - name: Create package
         shell: bash
         run: |
           conan profile detect
-          conan create . --build=missing -s compiler.cppstd=14
+          conan create . --build=missing -s compiler.cppstd=14 -s:a compiler.cppstd=14
 
   build_linux_debian:
     if: github.repository_owner == 'viamrobotics'
@@ -166,6 +169,7 @@ jobs:
           apt-get update
           apt-get -y dist-upgrade
           DEBIAN_FRONTEND=noninteractive apt-get -y --no-install-recommends install \
+              autoconf \
               build-essential \
               ca-certificates \
               cmake \
@@ -204,4 +208,4 @@ jobs:
 
           pip install conan
           conan profile detect
-          conan create . --build=missing -s compiler.cppstd=14
+          conan create . --build=missing -s compiler.cppstd=14 -s:a compiler.cppstd=14

.gitignore

@@ -12,3 +12,6 @@
 
 # ignore doxygen output
 /etc/docs/api/*
+
+# Conan user presets should be ignored
+CMakeUserPresets.json

CMakeLists.txt

@@ -21,7 +21,7 @@
 # TODO: Better clang-format integration (versions, dependencies, only changed, etc.)
 # TODO: Version from git describe?
 # TODO: Export macros and visibilty annotations
-# TODO: CPack? CTest? Conan?
+# TODO: CPack? CTest?
 
 
 # This is a tricky decision. If we set this too old, we lose access to
@@ -32,9 +32,16 @@
 # most uses of this product, it is expected to be cross-compiling for
 # the target platform on a development system, meaning that we are not
 # constrained by the version of CMake available on target systems.
-cmake_minimum_required(VERSION 3.25 FATAL_ERROR)
 
-set(CMAKE_PROJECT_VERSION 0.6.0)
+if (WIN32)
+  # Use a newer version of CMake on Windows, so we are NEW for
+  # https://cmake.org/cmake/help/latest/policy/CMP0149.html
+  cmake_minimum_required(VERSION 3.27 FATAL_ERROR)
+else()
+  cmake_minimum_required(VERSION 3.25 FATAL_ERROR)
+endif()
+
+set(CMAKE_PROJECT_VERSION 0.9.0)
 
 # Identify the project.
 project(viam-cpp-sdk
@@ -150,6 +157,10 @@ if (VIAMCPPSDK_ENFORCE_COMPILER_MINIMA)
     if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS 10.0)
       message(FATAL_ERROR "Insufficient Apple clang version: XCode 10.0+ required")
     endif()
+  elseif (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
+    if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS 19.34)
+      message(FATAL_ERROR "Insufficient MSVC version: Visual Studio 2022 17.4 (MSVC 19.34) or later is required")
+    endif()
   else()
     message(FATAL_ERROR "Unknown / untested compiler ${CMAKE_CXX_COMPILER_ID}")
   endif()
@@ -169,6 +180,10 @@ if (NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 set(CMAKE_CXX_STANDARD_REQUIRED True)
+if(MSVC)
+  # https://discourse.cmake.org/t/set-cmake-cxx-standard-should-set-zc-cplusplus-for-msvc/1876
+  string(APPEND CMAKE_CXX_FLAGS " /Zc:__cplusplus")
+endif()
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 
@@ -251,7 +266,7 @@ if (viam_rust_utils_files)
     ${viam_rust_utils_file}
     ONLY_IF_DIFFERENT
   )
-else()
+elseif(NOT WIN32) # TODO(RSDK-10366): Currently, rust_utils is not published for windows, so don't even try downloading
   set(lvru_system_name ${CMAKE_SYSTEM_NAME})
   if (CMAKE_SYSTEM_NAME STREQUAL "Darwin")
     set(lvru_system_name "macosx")
@@ -271,21 +286,23 @@ else()
 
 endif()
 
-add_library(viam_rust_utils SHARED IMPORTED)
+# 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)
 
-target_link_directories(viam_rust_utils
-  INTERFACE
+  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
-)
+  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
+  )
+endif()
 
 # Install the license file
 install(FILES

conanfile.py

@@ -39,7 +39,7 @@ def configure(self):
             # From some experiments it seems that the shared-ness of these packages
             # should match that of the SDK recipe. Failure to do so can cause linker
             # errors while compiling, or static initialization errors at runtime for modules.
-            for lib in ["grpc", "protobuf"]:
+            for lib in ["grpc", "protobuf", "abseil"]:
                 self.options[lib].shared = True
 
     def requirements(self):
@@ -49,8 +49,7 @@ def requirements(self):
         # maintained conan packages.
         self.requires('grpc/[>=1.48.4]')
         self.requires('protobuf/[>=3.17.1]')
-
-        self.requires('xtensor/[>=0.24.3]')
+        self.requires('xtensor/[>=0.24.3]', transitive_headers=True)
 
     def build_requirements(self):
         if self.options.offline_proto_generation:
@@ -66,6 +65,15 @@ def generate(self):
         tc.cache_variables["VIAMCPPSDK_OFFLINE_PROTO_GENERATION"] = self.options.offline_proto_generation
         tc.cache_variables["VIAMCPPSDK_USE_DYNAMIC_PROTOS"] = True
 
+        # We don't want to constrain these for conan builds because we
+        # don't know the context where we might be being built. We
+        # should permit the build if it works. Also, even the C++ SDK
+        # is warnings clean on the modern compilers we use in CI, it,
+        # or headers from its dependencies, might throw warnings with
+        # older compilers, and we should still allow a build there.
+        tc.cache_variables["VIAMCPPSDK_ENFORCE_COMPILER_MINIMA"] = False
+        tc.cache_variables["VIAMCPPSDK_USE_WALL_WERROR"] = False
+
         tc.cache_variables["VIAMCPPSDK_BUILD_TESTS"] = False
         tc.cache_variables["VIAMCPPSDK_BUILD_EXAMPLES"] = False
 
@@ -82,7 +90,11 @@ def package(self):
         CMake(self).install()
 
     def package_info(self):
-        self.cpp_info.components["viam_rust_utils"].libs = ["viam_rust_utils"]
+
+        # 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["viamsdk"].libs = ["viamsdk"]
 
@@ -103,10 +115,16 @@ def package_info(self):
         else:
             lib_folder = os.path.join(self.package_folder, "lib")
             lib_fullpath = os.path.join(lib_folder, "libviamapi.a")
+            if self.settings.os == "Windows":
+                lib_fullpath = os.path.join(lib_folder, "viamapi.lib")
+
             if is_apple_os(self):
                 whole_archive = f"-Wl,-force_load,{lib_fullpath}"
+            elif self.settings.os == "Windows":
+                whole_archive = f"/WHOLEARCHIVE:{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)
 
@@ -116,9 +134,14 @@ def package_info(self):
             "grpc::grpc++_reflection",
             "protobuf::libprotobuf",
             "xtensor::xtensor",
-
             "viamapi",
-            "viam_rust_utils"
         ])
 
+        # 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"].frameworks = ["Security"]

src/viam/api/CMakeLists.txt

@@ -63,20 +63,34 @@ if (VIAMCPPSDK_USE_DYNAMIC_PROTOS)
   #
   find_program(BUF_COMMAND buf)
   if (NOT BUF_COMMAND)
+
+    set(HOST_SYSTEM_PROCESSOR_FOR_BUF_DOWNLOAD ${CMAKE_HOST_SYSTEM_PROCESSOR})
+    if (CMAKE_HOST_WIN32)
+      if (HOST_SYSTEM_PROCESSOR_FOR_BUF_DOWNLOAD STREQUAL "AMD64")
+        set(HOST_SYSTEM_PROCESSOR_FOR_BUF_DOWNLOAD x86_64)
+      elseif (HOST_SYSTEM_PROCESSOR_FOR_BUF_DOWNLOAD STREQUAL "ARM64")
+        set(HOST_SYSTEM_PROCESSOR_FOR_BUF_DOWNLOAD arm64)
+      else()
+        message(FATAL_ERROR "Unknown Windows platform to correct buf download URL: ${HOST_SYSTEM_PROCESSOR_FOR_BUF_DOWNLOAD}")
+      endif()
+    endif()
+
+    set(BUF_DOWNLOAD_URL https://github.com/bufbuild/buf/releases/latest/download/buf-${CMAKE_HOST_SYSTEM_NAME}-${HOST_SYSTEM_PROCESSOR_FOR_BUF_DOWNLOAD}${CMAKE_HOST_EXECUTABLE_SUFFIX})
+
     file(
       DOWNLOAD
-      https://github.com/bufbuild/buf/releases/latest/download/buf-${CMAKE_HOST_SYSTEM_NAME}-${CMAKE_HOST_SYSTEM_PROCESSOR}
-      ${CMAKE_CURRENT_BINARY_DIR}/buf_latest
+      ${BUF_DOWNLOAD_URL}
+      ${CMAKE_CURRENT_BINARY_DIR}/buf_latest${CMAKE_HOST_EXECUTABLE_SUFFIX}
       STATUS buf_status
     )
     list(GET buf_status 0 buf_status_code)
     list(GET buf_status 1 buf_status_string)
 
     if(NOT buf_status_code EQUAL 0)
-      message(FATAL_ERROR "No local `buf` program found (try setting PATH?) and failed to download: ${buf_status_string}")
+      message(FATAL_ERROR "No local `buf` program found (try setting PATH?) and failed to download: ${buf_status_string} for ${BUF_DOWNLOAD_URL}")
     endif()
 
-    set(BUF_COMMAND ${CMAKE_CURRENT_BINARY_DIR}/buf_latest)
+    set(BUF_COMMAND ${CMAKE_CURRENT_BINARY_DIR}/buf_latest${CMAKE_HOST_EXECUTABLE_SUFFIX})
     file(CHMOD ${BUF_COMMAND} PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE)
   endif()
 
@@ -113,6 +127,16 @@ if (VIAMCPPSDK_USE_DYNAMIC_PROTOS)
     )
   endif()
 
+  # List of names of non-compilable generated code
+  # The Switch component generates protobuf which uses `switch` as a namespace.
+  # This needs to be processed below.
+  set(VIAMCPPSDK_SWITCH_REPLACE_PATHS
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.grpc.pb.cc
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.grpc.pb.h
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.pb.cc
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.pb.h
+  )
+
   add_custom_command(
     OUTPUT
     # Unfortunately, there isn't a good way to know in advance what
@@ -201,6 +225,10 @@ if (VIAMCPPSDK_USE_DYNAMIC_PROTOS)
     ${PROTO_GEN_DIR}/component/servo/v1/servo.grpc.pb.h
     ${PROTO_GEN_DIR}/component/servo/v1/servo.pb.cc
     ${PROTO_GEN_DIR}/component/servo/v1/servo.pb.h
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.grpc.pb.cc
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.grpc.pb.h
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.pb.cc
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.pb.h
     ${PROTO_GEN_DIR}/google/api/annotations.pb.cc
     ${PROTO_GEN_DIR}/google/api/annotations.pb.h
     ${PROTO_GEN_DIR}/google/api/httpbody.pb.cc
@@ -245,6 +273,9 @@ if (VIAMCPPSDK_USE_DYNAMIC_PROTOS)
     COMMAND ${BUF_COMMAND} generate ${BUF_GOOGLE_API_SOURCE} --template buf.gen.yaml --path google/rpc --path google/api
     COMMAND ${BUF_COMMAND} generate ${BUF_VIAM_GOUTILS_SOURCE} --template buf.gen.yaml
     COMMAND ${BUF_COMMAND} generate ${BUF_VIAM_API_SOURCE} --template buf.gen.yaml --path ${BUF_PROTO_COMPONENTS_JOINED}
+
+    # After generating the protos, include a step to invoke a search-and-replace for switch -> switch_ in the Switch component files
+    COMMAND ${CMAKE_COMMAND} "-DSWITCH_REPLACE_PATHS=\"${VIAMCPPSDK_SWITCH_REPLACE_PATHS}\"" -P ${CMAKE_CURRENT_SOURCE_DIR}/viamcppsdk_replace_switch.cmake
     MAIN_DEPENDENCY buf.gen.yaml
   )
 
@@ -328,6 +359,8 @@ target_sources(viamapi
     ${PROTO_GEN_DIR}/component/sensor/v1/sensor.pb.cc
     ${PROTO_GEN_DIR}/component/servo/v1/servo.grpc.pb.cc
     ${PROTO_GEN_DIR}/component/servo/v1/servo.pb.cc
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.grpc.pb.cc
+    ${PROTO_GEN_DIR}/component/switch/v1/switch.pb.cc
     ${PROTO_GEN_DIR}/google/api/annotations.pb.cc
     ${PROTO_GEN_DIR}/google/api/http.pb.cc
     ${PROTO_GEN_DIR}/google/api/httpbody.pb.cc
@@ -390,6 +423,8 @@ target_sources(viamapi
       ${PROTO_GEN_DIR}/../../viam/api/component/sensor/v1/sensor.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/servo/v1/servo.grpc.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/servo/v1/servo.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/component/switch/v1/switch.grpc.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/component/switch/v1/switch.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/google/api/annotations.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/google/api/http.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/google/api/httpbody.pb.h

src/viam/api/api_proto_tag.lock

@@ -1 +1 @@
-v0.1.417
+v0.1.429