RSDK-8822: Whole archive linking (#306)

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

@@ -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/examples/modules/complex/CMakeLists.txt

@@ -140,11 +140,13 @@ install(
 # writing their own modules. We are simply integrating tests from
 # `test_complex_module.cpp` into the Viam C++ SDK testing suite.
 
-enable_testing()
-viamcppsdk_add_boost_test(test_complex_module.cpp)
-target_sources(test_complex_module
-  PRIVATE
-    gizmo/impl.cpp
-    summation/impl.cpp
-)
-target_link_libraries(test_complex_module complex_module_sources)
+if (VIAMCPPSDK_BUILD_TESTS)
+ enable_testing()
+ viamcppsdk_add_boost_test(test_complex_module.cpp)
+ target_sources(test_complex_module
+   PRIVATE
+     gizmo/impl.cpp
+     summation/impl.cpp
+ )
+ target_link_libraries(test_complex_module complex_module_sources)
+endif()

src/viam/sdk/CMakeLists.txt

@@ -227,8 +227,13 @@ target_link_directories(viamsdk
     "$<INSTALL_INTERFACE:${VIAMCPPSDK_PROTOBUF_LIBRARY_DIRS}>"
 )
 
+if (BUILD_SHARED_LIBS)
+  target_link_libraries(viamsdk PUBLIC viam-cpp-sdk::viamapi)
+else()
+  target_link_libraries(viamsdk PUBLIC "$<LINK_LIBRARY:WHOLE_ARCHIVE,viam-cpp-sdk::viamapi>")
+endif()
+
 target_link_libraries(viamsdk
-  PUBLIC viam-cpp-sdk::viamapi
   PUBLIC ${VIAMCPPSDK_GRPCXX_LIBRARIES}
   PUBLIC ${VIAMCPPSDK_GRPC_LIBRARIES}
   PUBLIC ${VIAMCPPSDK_PROTOBUF_LIBRARIES}

test_package/conanfile.py

@@ -1,5 +1,5 @@
+import subprocess
 import os
-from io import StringIO
 
 from conan import ConanFile
 from conan.errors import ConanException
@@ -23,8 +23,22 @@ def layout(self):
 
     def test(self):
         if can_run(self):
-            cmd = os.path.join(self.cpp.build.bindir, "example_module")
-            stderr = StringIO()
-            self.run(cmd, env='conanrun', stderr=stderr, ignore_errors=True)
-            if "main failed with exception:" not in stderr.getvalue():
-                raise ConanException("Unexpected error output from test")
+            sock = "fake-socket-path"
+
+            cmd = os.path.join(self.cpp.build.bindir, f"example_module {sock}")
+
+            # the ConanFile run method is a wrapper around Popen, but it only returns the retcode.
+            # A properly intialized module waits indefinitely on a signal, so we have to use Popen manually.
+            proc = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE, text=True)
+
+            out = None
+
+            try:
+                out = proc.communicate(timeout=2)[0]
+            except subprocess.TimeoutExpired:
+                proc.terminate()
+                out = proc.communicate()[0]
+                pass
+
+            if f"Module listening on {sock}" not in out:
+                raise ConanException(f"Simple example failed to start module listening")