Merge branch 'main' into RSDK-9132

viamrobotics · Nov 4, 2024 · f6e3d69 · f6e3d69
2 parents 41cb592 + b8d7747
commit f6e3d69
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Showing 306 changed files with 2,870 additions and 16,513 deletions.
diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -23,7 +23,6 @@ jobs:
         brew install x264
         brew install jpeg-turbo
         brew install ffmpeg
-        brew install tensorflowlite # Needs to be last
     - name: build
       run: go build ./web/cmd/server
     - uses: actions/upload-artifact@v3

diff --git a/.github/workflows/test-module-generation.yml b/.github/workflows/test-module-generation.yml
@@ -10,11 +10,13 @@ jobs:
     strategy:
       fail-fast: true
       matrix:
+        language: ["python", "go"]
         resource:
           [
             { subtype: "arm", type: "component" },
             { subtype: "audio_input", type: "component" },
             { subtype: "base", type: "component" },
+            { subtype: "board", type: "component" },
             { subtype: "camera", type: "component" },
             { subtype: "encoder", type: "component" },
             { subtype: "gantry", type: "component" },
@@ -45,12 +47,11 @@ jobs:
           go-version-file: go.mod
 
       - name: Run module generator
-        run: go run ./cli/viam --debug module generate --resource-subtype "${{ matrix.resource.subtype }}" --resource-type "${{ matrix.resource.type }}"
+        run: go run ./cli/viam --debug module generate --resource-subtype "${{ matrix.resource.subtype }}" --resource-type "${{ matrix.resource.type }}" --language "${{ matrix.language }}"
 
       - name: Run module
         run: |
           cd my-module
-          chmod +x run.sh
           ./run.sh /tmp/viam.sock &
           PID=$!
           sleep 5

diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
@@ -179,7 +179,7 @@ jobs:
             --platform linux/arm/v7 \
             -v `pwd`:/rdk \
             ghcr.io/viamrobotics/rdk-devenv:armhf-cache \
-            sudo -Hu testbot bash -lc 'sudo apt-get install -y python3-venv && cd /rdk && go test -v -tags=no_tflite ./...'
+            sudo -Hu testbot bash -lc 'sudo apt-get install -y python3-venv && cd /rdk && go test -v ./...'
 
   motion_tests:
     name: Test Longer-running Motion Plans if affected

diff --git a/Makefile b/Makefile
@@ -11,9 +11,6 @@ TAG_VERSION?=$(shell git tag --points-at | sort -Vr | head -n1)
 DATE_COMPILED?=$(shell date +'%Y-%m-%d')
 COMMON_LDFLAGS = -s -w -X 'go.viam.com/rdk/config.Version=${TAG_VERSION}' -X 'go.viam.com/rdk/config.GitRevision=${GIT_REVISION}' -X 'go.viam.com/rdk/config.DateCompiled=${DATE_COMPILED}'
 LDFLAGS = -ldflags "-extld=$(shell pwd)/etc/ld_wrapper.sh $(COMMON_LDFLAGS)"
-ifeq ($(shell command -v dpkg >/dev/null && dpkg --print-architecture),armhf)
-GOFLAGS += -tags=no_tflite
-endif
 
 default: build lint server
 

diff --git a/android.make b/android.make
@@ -39,7 +39,6 @@ droid-rdk.%.aar: etc/android/prefix/aarch64 etc/android/prefix/x86_64
 	mkdir -p droidtmp/jni/$(JNI_ARCH)
 	cp -d etc/android/prefix/$(CPU_ARCH)/lib/*.so* droidtmp/jni/$(JNI_ARCH)
 	cd droidtmp && zip --symlinks -r ../$@ jni/$(JNI_ARCH)
-	cd ./services/mlmodel/tflitecpu/android/ && zip --symlinks -r ../../../../$@ jni/$(JNI_ARCH)
 
 droid-rdk.aar: droid-rdk.amd64.aar droid-rdk.arm64.aar
 	# multi-platform AAR -- twice the size, but portable

diff --git a/cli/app.go b/cli/app.go
@@ -42,6 +42,7 @@ const (
 	apiKeyCreateFlagName = "name"
 
 	moduleFlagName            = "name"
+	moduleFlagLanguage        = "language"
 	moduleFlagPublicNamespace = "public-namespace"
 	moduleFlagPath            = "module"
 	moduleFlagVersion         = "version"
@@ -1496,6 +1497,11 @@ After creation, use 'viam module update' to push your new module to app.viam.com
 					Name:  "generate",
 					Usage: "generate a new modular resource via prompts",
 					Flags: []cli.Flag{
+						&cli.StringFlag{
+							Name:  moduleFlagLanguage,
+							Usage: "language to use for module",
+							Value: "python",
+						},
 						&cli.StringFlag{
 							Name:  moduleFlagResourceType,
 							Usage: "resource type to use in module",