Merge branch 'main' into workflow/update-protos

Author: lia-viam

.github/workflows/docker.yml

@@ -0,0 +1,67 @@
+on:
+  workflow_dispatch:
+    inputs:
+      image-prefix:
+        description: "gets suffixed with 'base' and 'sdk' to create actual image name"
+        default: ghcr.io/viamrobotics/cpp-
+      dockerfile:
+        default: Dockerfile.debian.bullseye
+      tag:
+        default: bullseye-amd64
+      build-base:
+        description: "whether to build the base image. the base images change less often and may not be necessary to rebuild."
+        type: boolean
+        default: false
+      build-sdk:
+        description: "whether to build the SDK image. if this is true and no corresponding base image exists, the job will fail."
+        type: boolean
+        default: false
+      push:
+        description: "whether to push the images after building them"
+        type: boolean
+        default: false
+
+jobs:
+  build-container:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+    steps:
+    - uses: actions/checkout@v4
+
+    - uses: docker/login-action@v3
+      with:
+        registry: ghcr.io
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+
+    # build base (if inputs.build-base)
+    - uses: docker/metadata-action@v5
+      id: base-meta
+      if: inputs.build-base
+      with:
+        images: ${{ inputs.image-prefix }}base
+    - uses: docker/build-push-action@v5
+      if: inputs.build-base
+      with:
+        push: ${{ inputs.push }}
+        tags: "${{ inputs.image-prefix }}base:${{ inputs.tag }}"
+        file: etc/docker/base-images/${{ inputs.dockerfile }}
+        labels: ${{ steps.base-meta.output.labels }}
+
+    # build sdk (if inputs.build-sdk)
+    - uses: docker/metadata-action@v5
+      id: sdk-meta
+      if: inputs.build-sdk
+      with:
+        images: ${{ inputs.image-prefix }}sdk
+    - uses: docker/build-push-action@v5
+      if: inputs.build-sdk
+      with:
+        build-args: |
+          BASE_TAG=${{ inputs.image-prefix }}base:${{ inputs.tag }}
+        push: ${{ inputs.push }}
+        tags: "${{ inputs.image-prefix }}sdk:${{ inputs.tag }}"
+        file: etc/docker/Dockerfile.sdk-build
+        labels: ${{ steps.sdk-meta.output.labels }}

.github/workflows/linter.yml

@@ -1,26 +1,25 @@
 name: cpp-linter
 
-on: pull_request
+on:
+  pull_request:
+  workflow_dispatch:
 
 jobs:
   cpp-linter:
     if: github.repository_owner == 'viamrobotics'
     runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/viamrobotics/canon:amd64
+    container: ghcr.io/viamrobotics/cpp-base:bullseye-amd64
     steps:
       - name: Checkout Code
         uses: actions/checkout@v4
         with:
           fetch-depth: 0
-      - name: install clang-format
-        run: sudo apt install -y clang-format
       - name: verify no uncommitted changes
         run: |
+          chown $(whoami) .
           git init
           git add .
-          chown -R testbot .
-          sudo -u testbot bash -lc 'sh ./bin/run-clang-format.sh'
+          ./bin/run-clang-format.sh
           GEN_DIFF=$(git status -s)
 
           if [ -n "$GEN_DIFF" ]; then

.github/workflows/test.yml

@@ -3,34 +3,38 @@ name: Test
 on:
   pull_request:
   workflow_dispatch:
+    inputs:
+      no-tidy:
+        type: boolean
+        description: set to true to build without clang-tidy (2x faster)
 
 jobs:
   run-tests:
     if: github.repository_owner == 'viamrobotics'
     runs-on: ubuntu-latest
-    container:
-      image: ghcr.io/viamrobotics/canon:amd64
+    container: ghcr.io/viamrobotics/cpp-base:bullseye-amd64
     strategy:
       matrix:
         include:
           - BUILD_SHARED: ON
           - BUILD_SHARED: OFF
     steps:
       - uses: actions/checkout@v4
-      ###########################################
-      #     necessary installs for building     #
-      ###########################################
-      - name: build-docker-test
+      - name: cmake
         run: |
-          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
+          mkdir build
+          cd build
+          cmake .. -G Ninja \
+            -DBUILD_SHARED_LIBS=${{ matrix.BUILD_SHARED }} \
+            -DVIAMCPPSDK_OFFLINE_PROTO_GENERATION=ON \
+            -DVIAMCPPSDK_BUILD_TESTS=ON \
+            -DVIAMCPPSDK_BUILD_EXAMPLES=ON \
+            -DVIAMCPPSDK_CLANG_TIDY=${{ inputs.no-tidy && 'OFF' || 'ON' }} \
+            -DVIAMCPPSDK_SANITIZED_BUILD=${{ matrix.BUILD_SHARED }}
+      - name: build
+        run: |
+          cmake --build build --target install
+          cmake --install build
+      - name: test
+        working-directory: build
+        run: ../etc/docker/tests/run_test.sh

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 0.0.15)
+set(CMAKE_PROJECT_VERSION 0.0.16)
 
 # Identify the project.
 project(viam-cpp-sdk

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

@@ -41,4 +41,5 @@ RUN apt-get update
 
 RUN apt-get -y --no-install-recommends install -t llvm-toolchain-bookworm-15 \
     clang-15 \
-    clang-tidy-15
+    clang-tidy-15 \
+    clang-format

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

@@ -1,6 +1,6 @@
 FROM debian:bullseye
 
-ENV HOME /root
+ENV HOME=/root
 ARG DEBIAN_FRONTEND=noninteractive
 
 RUN apt-get update
@@ -39,7 +39,8 @@ RUN apt-get update
 
 RUN apt-get -y --no-install-recommends install -t llvm-toolchain-bullseye-15 \
     clang-15 \
-    clang-tidy-15
+    clang-tidy-15 \
+    clang-format
 
 RUN apt-get -y --no-install-recommends install -t bullseye-backports \
     cmake

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

@@ -41,4 +41,5 @@ RUN apt-get update
 
 RUN apt-get -y --no-install-recommends install -t llvm-toolchain-15 \
     clang-15 \
-    clang-tidy-15
+    clang-tidy-15 \
+    clang-format

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

@@ -42,7 +42,8 @@ RUN apt-get update
 
 RUN apt-get -y --no-install-recommends install -t llvm-toolchain-focal-15 \
     clang-15 \
-    clang-tidy-15
+    clang-tidy-15 \
+    clang-format
 
 RUN apt-get -y install cmake
 

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

@@ -42,6 +42,7 @@ RUN apt-get update
 
 RUN apt-get -y --no-install-recommends install -t llvm-toolchain-jammy-15 \
     clang-15 \
-    clang-tidy-15
+    clang-tidy-15 \
+    clang-format
 
 RUN apt-get -y install cmake

src/viam/api/CMakeLists.txt

@@ -225,6 +225,10 @@ if (VIAMCPPSDK_USE_DYNAMIC_PROTOS)
     ${PROTO_GEN_DIR}/service/motion/v1/motion.grpc.pb.h
     ${PROTO_GEN_DIR}/service/motion/v1/motion.pb.cc
     ${PROTO_GEN_DIR}/service/motion/v1/motion.pb.h
+    ${PROTO_GEN_DIR}/service/navigation/v1/navigation.grpc.pb.cc
+    ${PROTO_GEN_DIR}/service/navigation/v1/navigation.grpc.pb.h
+    ${PROTO_GEN_DIR}/service/navigation/v1/navigation.pb.cc
+    ${PROTO_GEN_DIR}/service/navigation/v1/navigation.pb.h
     ${PROTO_GEN_DIR}/tagger/v1/tagger.grpc.pb.cc
     ${PROTO_GEN_DIR}/tagger/v1/tagger.grpc.pb.h
     ${PROTO_GEN_DIR}/tagger/v1/tagger.pb.cc
@@ -328,6 +332,8 @@ target_sources(viamapi
     ${PROTO_GEN_DIR}/service/mlmodel/v1/mlmodel.pb.cc
     ${PROTO_GEN_DIR}/service/motion/v1/motion.grpc.pb.cc
     ${PROTO_GEN_DIR}/service/motion/v1/motion.pb.cc
+    ${PROTO_GEN_DIR}/service/navigation/v1/navigation.grpc.pb.cc
+    ${PROTO_GEN_DIR}/service/navigation/v1/navigation.pb.cc
     ${PROTO_GEN_DIR}/tagger/v1/tagger.grpc.pb.cc
     ${PROTO_GEN_DIR}/tagger/v1/tagger.pb.cc
   PUBLIC FILE_SET viamapi_includes TYPE HEADERS
@@ -385,6 +391,8 @@ target_sources(viamapi
       ${PROTO_GEN_DIR}/../../viam/api/service/mlmodel/v1/mlmodel.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/service/motion/v1/motion.grpc.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/service/motion/v1/motion.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/service/navigation/v1/navigation.grpc.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/service/navigation/v1/navigation.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/tagger/v1/tagger.pb.h
 )