Merge branch 'main' into RSDK-10768-single-input-tensor-naming

Author: acmorrow

.github/workflows/conan.yml

@@ -40,6 +40,8 @@ jobs:
           github.event_name == 'schedule' &&
           steps.git_info.outputs.current_commit == steps.last_successful_commit.outputs.commit-hash
 
+  # TODO (RSDK-10666) add windows build testing
+
   build_macos:
     if: github.repository_owner == 'viamrobotics'
     needs: [prepare]

.github/workflows/release.yml

@@ -36,6 +36,53 @@ jobs:
         uses: andymckay/[email protected]
         if: steps.release_exists.outputs.id != ''
 
+  build_windows:
+    if: github.repository_owner == 'viamrobotics'
+    needs: [prepare]
+    runs-on: windows-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - target: x86_64-windows
+            platform: windows_x86_64
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ needs.prepare.outputs.sha }}
+
+      - name: Install dependencies
+        run: choco install -y conan git
+
+      - name: Create package
+        shell: powershell
+        # TODO (RSDK-10666) Use conan invocations rather than cmake invocations here
+        run: |
+          Import-Module $env:ChocolateyInstall\helpers\chocolateyProfile.psm1
+          refreshenv
+          conan profile detect
+          conan install . --output-folder=build-conan --build=missing -o "&:shared=False"
+          cmake . --preset conan-default
+          cmake --build --preset=conan-release --target ALL_BUILD install -j 8
+        env:
+          CONAN_USER_HOME: c:/cache
+          CONAN_USER_HOME_SHORT: c:/cache/conan_shortpaths
+
+      - name: Copy
+        run: |
+          cmake --install build-conan/build --prefix builds/viam-cpp-sdk-${{ matrix.platform }}
+
+      - name: Create tar
+        run: |
+          tar -czvf builds/viam-cpp-sdk-${{ matrix.platform }}.tar.gz builds/viam-cpp-sdk-${{ matrix.platform }}
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: viam-cpp-sdk-${{ matrix.platform }}.tar.gz
+          path: builds/viam-cpp-sdk-${{ matrix.platform }}.tar.gz
+
   build_macos:
     if: github.repository_owner == 'viamrobotics'
     needs: [prepare]

.github/workflows/test.yml

@@ -2,6 +2,9 @@ name: Test
 
 on:
   pull_request:
+    paths-ignore:
+      - conanfile.py
+      - '**.md'
   workflow_dispatch:
     inputs:
       no-tidy:

.gitignore

@@ -5,7 +5,9 @@
 /build/*
 
 # For now, ignore any viam_rust_utils library in the root.
+# The `lib` prefix is on unix-based systems only
 /libviam_rust_utils*
+/viam_rust_utils*
 
 # Ignore clang cache.
 /.cache/

BUILDING.md

@@ -260,6 +260,23 @@ have a different version of `protoc` available in your `PATH`, it will
 silently fail and later cause compilation failures due to protobuf
 version mismatches.
 
+## Building for ARM Windows
+
+The C++ SDK works well on windows for both client and module code 
+provided there is internet connectivity. However, some manual work is
+required to build for client code on ARM64 architecture.
+
+1. (client code only) clone [rust-utils](https://github.com/viamrobotics/rust-utils) >= v0.3.0 and
+build locally with `cargo build --release`. Copy `target\release\viam_rust_utils.lib`
+to the root of the C++ SDK directory.
+2. Ensure `conan` is installed (see `Building with Conan` above).
+3. Run the following:
+```
+conan profile detect
+cmake . --preset conan-default <cmake args>
+cmake --build --preset=conan-release -j
+```
+
 ## Options to Configure or Customize the Build
 
 ### Options for Package Search

CMakeLists.txt

@@ -41,7 +41,7 @@ else()
   cmake_minimum_required(VERSION 3.25 FATAL_ERROR)
 endif()
 
-set(CMAKE_PROJECT_VERSION 0.11.0)
+set(CMAKE_PROJECT_VERSION 0.12.0)
 
 # Identify the project.
 project(viam-cpp-sdk
@@ -266,14 +266,20 @@ if (viam_rust_utils_files)
     ${viam_rust_utils_file}
     ONLY_IF_DIFFERENT
   )
-elseif(NOT WIN32) # TODO(RSDK-10366): Currently, rust_utils is not published for windows, so don't even try downloading
+elseif(NOT WIN32 OR ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64")
   set(lvru_system_name ${CMAKE_SYSTEM_NAME})
   if (CMAKE_SYSTEM_NAME STREQUAL "Darwin")
     set(lvru_system_name "macosx")
   endif()
+
+  set(lvru_system_processor ${CMAKE_SYSTEM_PROCESSOR})
+  if(WIN32)
+    set(lvru_system_processor "x86_64")
+  endif()
+
   file(
     DOWNLOAD
-    https://github.com/viamrobotics/rust-utils/releases/latest/download/${CMAKE_SHARED_LIBRARY_PREFIX}viam_rust_utils-${lvru_system_name}_${CMAKE_SYSTEM_PROCESSOR}${CMAKE_STATIC_LIBRARY_SUFFIX}
+    https://github.com/viamrobotics/rust-utils/releases/latest/download/${CMAKE_SHARED_LIBRARY_PREFIX}viam_rust_utils-${lvru_system_name}_${lvru_system_processor}${CMAKE_STATIC_LIBRARY_SUFFIX}
     ${viam_rust_utils_file}
     STATUS lvru_status
   )
@@ -283,24 +289,21 @@ elseif(NOT WIN32) # TODO(RSDK-10366): Currently, rust_utils is not published for
   if(NOT lvru_status_code EQUAL 0)
     message(FATAL_ERROR "No local viam_rust_utils found and failed to download: ${lvru_status_string}")
   endif()
-
+else()
+    message(WARNING "Currently running on Windows with no rust-utils file. Module code should work as expected, but client code may fail unexpectedly.")
 endif()
 
-# 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)
-
+if (NOT WIN32 OR ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64")
+  add_library(viam_rust_utils STATIC IMPORTED)
   target_link_directories(viam_rust_utils
     INTERFACE
     "$<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
+    FILES ${viam_rust_utils_file} DESTINATION ${CMAKE_INSTALL_LIBDIR} COMPONENT viam-cpp-sdk_runtime
   )
 endif()
 

conanfile.py

@@ -42,19 +42,31 @@ def configure(self):
             for lib in ["grpc", "protobuf", "abseil"]:
                 self.options[lib].shared = True
 
+    def _xtensor_requires(self):
+        if self.settings.compiler.cppstd in ["14", "gnu14"]:
+            return 'xtensor/[>=0.24.3 <0.26.0]'
+        
+        return 'xtensor/[>=0.24.3]'
+
+    def _grpc_requires(self):
+        if self.settings.compiler.cppstd in ["14", "gnu14"]:
+            return 'grpc/[>=1.48.4 <1.70.0]'
+        
+        return 'grpc/[>=1.48.4]'
+
     def requirements(self):
         self.requires('boost/[>=1.74.0]', transitive_headers=True)
 
         # The SDK supports older grpc and protobuf, but these are the oldest
         # maintained conan packages.
-        self.requires('grpc/[>=1.48.4]')
-        self.requires('protobuf/[>=3.17.1]')
-        self.requires('xtensor/[>=0.24.3]', transitive_headers=True)
+        self.requires(self._grpc_requires())
+        self.requires('protobuf/[>=3.17.1 <6.30.0]')
+        self.requires(self._xtensor_requires(), transitive_headers=True)
 
     def build_requirements(self):
         if self.options.offline_proto_generation:
-            self.tool_requires('grpc/[>=1.48.4]')
-            self.tool_requires('protobuf/[>=3.17.1]')
+            self.tool_requires(self._grpc_requires())
+            self.tool_requires('protobuf/[>=3.17.1 <6.30.0]')
 
     def layout(self):
         cmake_layout(self)
@@ -91,10 +103,7 @@ def package(self):
 
     def package_info(self):
 
-        # 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["viam_rust_utils"].libs = ["viam_rust_utils"]
 
         self.cpp_info.components["viamsdk"].libs = ["viamsdk"]
 
@@ -137,11 +146,8 @@ def package_info(self):
             "viamapi",
         ])
 
-        # 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"].requires.extend([
+            "viam_rust_utils"
+        ])
 
         self.cpp_info.components["viamsdk"].frameworks = ["Security"]

src/viam/api/api_proto_tag.lock

@@ -1 +1 @@
-v0.1.436
+v0.1.438