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

Author: lia-viam

.github/workflows/test.yml

@@ -10,6 +10,11 @@ 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
       ###########################################
@@ -18,4 +23,4 @@ jobs:
       - 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 run -e BUILD_SHARED=${{ matrix.BUILD_SHARED }} --rm -i -w /tmp cpp /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/tests/run_test.sh

@@ -5,8 +5,10 @@ mkdir build
 cd build
 cmake .. -G Ninja -DVIAMCPPSDK_USE_DYNAMIC_PROTOS=ON \
 		-DVIAMCPPSDK_OFFLINE_PROTO_GENERATION=ON \
-		-DVIAMCPPSDK_SANITIZED_BUILD=ON \
-		-DVIAMCPPSDK_CLANG_TIDY=ON
+		-DVIAMCPPSDK_SANITIZED_BUILD=$BUILD_SHARED \
+		-DVIAMCPPSDK_CLANG_TIDY=ON \
+		-DBUILD_SHARED_LIBS=$BUILD_SHARED
+
 ninja all
 ninja install
 INSTALL_DIR="$(pwd)/install"
@@ -20,15 +22,28 @@ popd
 
 # Test that example_module builds and runs with the SDK install from above.
 # Check with both CMake and make/pkg-config that we can build the example
-# and have it exit with the expected error message.
+# and have it start listening.
+
+run_module() {
+	./example_module fake-socket-path > module-out-temp.txt &
+	MODULE_PID=$!
+	sleep 2
+	kill ${MODULE_PID}
+	grep 'Module listening' module-out-temp.txt
+	return $?
+}
 
 cd ../src/viam/examples/project
 pushd cmake
 cmake . -G Ninja # Just do an in-source build to save path fiddling
 ninja all
-[ $(./example_module 2>&1 | grep 'main failed with exception:' -c) = 1 ]
-popd
-pushd pkg-config
-PKG_CONFIG_PATH=${INSTALL_DIR}/lib/pkgconfig make all
-[ $(./example_module 2>&1 | grep 'main failed with exception:' -c) = 1 ]
+run_module
 popd
+
+if [ ${BUILD_SHARED} = "ON" ]
+then
+	pushd pkg-config
+	PKG_CONFIG_PATH=${INSTALL_DIR}/lib/pkgconfig make all
+	run_module
+	popd
+fi

src/viam/api/api_proto_tag.lock

@@ -1 +1 @@
-v0.1.345
+v0.1.348