RSDK-4829 arm32 build

.dockerignore

@@ -0,0 +1,4 @@
+bin/
+.direnv/
+.git/
+**/Dockerfile

.github/workflows/server-32bit.yml

@@ -0,0 +1,115 @@
+on:
+  push:
+
+jobs:
+  docker:
+    runs-on: buildjet-4vcpu-ubuntu-2204-arm
+    permissions:
+      packages: write
+    steps:
+    - uses: actions/checkout@v3
+    - uses: docker/login-action@v2
+      with:
+        username: awinterbuildrate
+        password: ${{ secrets.DOCKER_PUBLIC_READONLY_PAT }}
+    - uses: docker/setup-qemu-action@v2
+    - uses: docker/setup-buildx-action@v2
+    - uses: docker/login-action@v2
+      with:
+        registry: ghcr.io
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    - uses: docker/build-push-action@v4
+      with:
+        file: etc/packaging/32bit/Dockerfile
+        tags: ghcr.io/viamrobotics/viam-server:armv7
+        pull: true
+        push: true
+        cache-from: type=registry,ref=ghcr.io/viamrobotics/viam-server:buildcache
+        cache-to: type=registry,ref=ghcr.io/viamrobotics/viam-server:buildcache
+  lint:
+    needs: [docker]
+    runs-on: buildjet-4vcpu-ubuntu-2204-arm
+    permissions:
+      packages: read
+    steps:
+    - uses: docker/login-action@v2
+      with:
+        registry: ghcr.io
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    - uses: actions/checkout@v3
+    # note: we're linting on 32-bit because atomicalign analyzer only works on 32-bit architecture
+    - name: lint
+      run: docker run --rm -v $PWD/:/rdk ghcr.io/viamrobotics/viam-server:armv7 make lint-32bit
+    - id: changed-files
+      uses: tj-actions/changed-files@v39
+      with:
+        # note: this doesn't provide perfect coverage, but it's a compromise between running all the time + never running
+        since_last_remote_commit: true
+    - name: vendorlint
+      if: contains(steps.changed-files.outputs.modified_files, 'go.sum')
+      run: docker run --rm -v $PWD/:/rdk ghcr.io/viamrobotics/viam-server:armv7 make vendorlint
+  test:
+    needs: [docker]
+    runs-on: buildjet-4vcpu-ubuntu-2204-arm
+    strategy:
+      fail-fast: false
+      matrix:
+        index: ['0', '1', '2', '3', '4']
+    permissions:
+      packages: read
+    steps:
+    - uses: docker/login-action@v2
+      with:
+        registry: ghcr.io
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    - uses: actions/checkout@v3
+    - name: test
+      run: |
+        docker run --rm \
+          -v $PWD/:/rdk \
+          --env GOFLAGS="-tags=no_tflite,no_pigpio -buildvcs=false" \
+          --env INDEX=${{ matrix.index }} \
+          --env NBINS=5 \
+          ghcr.io/viamrobotics/viam-server:armv7 \
+          make test-go-split
+  build:
+    needs: [test, lint]
+    runs-on: buildjet-4vcpu-ubuntu-2204-arm
+    permissions:
+      packages: read
+    steps:
+    - uses: docker/login-action@v2
+      with:
+        registry: ghcr.io
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    - uses: actions/checkout@v3
+    - name: build
+      run: docker run --rm -v $PWD/:/rdk ghcr.io/viamrobotics/viam-server:armv7 sh -c "git config --global --add safe.directory '*' && go build -v -tags no_pigpio,no_tflite ./web/cmd/server"
+    - name: show arch
+      run: file server
+    - uses: actions/upload-artifact@v3
+      with:
+        path: server
+  upload:
+    needs: [build]
+    if: github.ref_name == 'main'
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/download-artifact@v3
+    - name: rename
+      run: mv artifact/server viam-server-latest-armv7l
+    - name: Authorize GCP Upload
+      uses: google-github-actions/auth@v1
+      with:
+        credentials_json: '${{ secrets.GCP_CREDENTIALS }}'
+    - name: upload
+      uses: google-github-actions/[email protected]
+      with:
+        headers: "cache-control: no-cache"
+        path: viam-server-latest-armv7l
+        destination: 'packages.viam.com/apps/viam-server/'
+        parent: false

.gitignore

@@ -79,3 +79,5 @@ google-credentials.json
 
 # frontend built artifacts are not committed (they are generated during appimage github workflow step)
 web/runtime-shared/static
+
+vendorlint.json

Makefile

@@ -58,6 +58,14 @@ lint-go: tool-install
 	export pkgs="`go list -f '{{.Dir}}' ./... | grep -v /proto/`" && echo "$$pkgs" | xargs go vet -vettool=$(TOOL_BIN)/combined
 	GOGC=50 $(TOOL_BIN)/golangci-lint run -v --fix --config=./etc/.golangci.yaml
 
+lint-32bit: tool-install
+	$(TOOL_BIN)/golangci-lint run -v --build-tags no_tflite,no_pigpio --tests=false --disable-all --enable staticcheck --timeout 30m
+
+vendorlint: tool-install
+	go mod vendor
+	# parallelism is 1 for now because golangci-lint detects parallel runs and complains
+	etc/vendorlint.py all --linter $(abspath $(TOOL_BIN)/golangci-lint) --parallel 1 --out vendorlint.json
+
 lint-web: check-web
 	npm run lint --prefix web/frontend
 
@@ -74,6 +82,10 @@ test-no-race: test-go-no-race test-web
 test-go: tool-install
 	PATH=$(PATH_WITH_TOOLS) ./etc/test.sh race
 
+test-go-split:
+	# run one shard of the test suite using splitter.py
+	go list -json ./... | etc/splitter.py $(INDEX) --nbins $(NBINS) --command "go test" --fail-empty
+
 test-go-no-race: tool-install
 	PATH=$(PATH_WITH_TOOLS) ./etc/test.sh
 

components/board/pi/impl/board.go

@@ -1,4 +1,4 @@
-//go:build linux && (arm64 || arm)
+//go:build linux && (arm64 || arm) && !no_pigpio
 
 // Package piimpl contains the implementation of a supported Raspberry Pi board.
 package piimpl

components/board/pi/impl/board_test.go

@@ -1,4 +1,4 @@
-//go:build linux && (arm64 || arm)
+//go:build linux && (arm64 || arm) && !no_pigpio
 
 package piimpl
 

components/board/pi/impl/external_hardware_test.go

@@ -1,4 +1,4 @@
-//go:build linux && (arm64 || arm)
+//go:build linux && (arm64 || arm) && !no_pigpio
 
 package piimpl
 

components/board/pi/impl/i2c.go

@@ -1,4 +1,4 @@
-//go:build linux && (arm64 || arm)
+//go:build linux && (arm64 || arm) && !no_pigpio
 
 package piimpl
 

components/board/pi/impl/pi.c

@@ -1,3 +1,4 @@
+//go:build !no_pigpio
 #include <pigpio.h>
 
 extern void pigpioInterruptCallback(int gpio, int level, uint32_t tick);

components/board/pi/impl/pi.h

@@ -1,3 +1,4 @@
+//go:build !no_pigpio
 #pragma once
 
 // interruptCallback calls through to the go linked interrupt callback.

components/board/pi/impl/servo.go

@@ -1,4 +1,4 @@
-//go:build linux && (arm64 || arm)
+//go:build linux && (arm64 || arm) && !no_pigpio
 
 package piimpl
 

components/board/pi/impl/utils.go

@@ -1,4 +1,4 @@
-//go:build linux && (arm64 || arm)
+//go:build linux && (arm64 || arm) && !no_pigpio
 
 package piimpl
 

components/board/pi/impl/verify_main_test.go

@@ -1,4 +1,4 @@
-//go:build linux && (arm64 || arm)
+//go:build linux && (arm64 || arm) && !no_pigpio
 
 package piimpl
 

components/board/pi/pi_notsupported.go

@@ -1,4 +1,4 @@
-//go:build !(linux && (arm64 || arm))
+//go:build !(linux && (arm64 || arm) && !no_pigpio)
 
 package pi
 

components/board/pi/pi_supported.go

@@ -1,4 +1,4 @@
-//go:build linux && (arm64 || arm)
+//go:build linux && (arm64 || arm) && !no_pigpio
 
 package pi
 

components/camera/transformpipeline/classifier_test.go

@@ -1,3 +1,5 @@
+//go:build !no_tflite
+
 package transformpipeline
 
 import (

components/camera/transformpipeline/detector_test.go

@@ -1,3 +1,5 @@
+//go:build !no_tflite
+
 package transformpipeline
 
 import (

components/encoder/incremental/incremental_encoder.go

@@ -30,9 +30,6 @@ func init() {
 // Encoder keeps track of a motor position using a rotary incremental encoder.
 type Encoder struct {
 	resource.Named
-
-	positionType encoder.PositionType
-
 	mu   sync.Mutex
 	A, B board.DigitalInterrupt
 	// The position is pRaw with the least significant bit chopped off.
@@ -53,6 +50,7 @@ type Encoder struct {
 	cancelCtx               context.Context
 	cancelFunc              func()
 	activeBackgroundWorkers sync.WaitGroup
+	positionType            encoder.PositionType
 }
 
 // Pins describes the configuration of Pins for a quadrature encoder.

components/motor/gpio/motor_encoder.go

@@ -173,6 +173,7 @@ func newEncodedMotor(
 
 // EncodedMotor is a motor that utilizes an encoder to track its position.
 type EncodedMotor struct {
+	rpmMonitorCalls int64
 	resource.Named
 	resource.AlwaysRebuild
 
@@ -195,12 +196,11 @@ type EncodedMotor struct {
 	flip             int64 // defaults to 1, becomes -1 if the motor config has a true DirectionFLip bool
 	ticksPerRotation int64
 
-	rpmMonitorCalls int64
-	logger          golog.Logger
-	cancelCtx       context.Context
-	cancel          func()
-	loop            *control.Loop
-	opMgr           *operation.SingleOperationManager
+	logger    golog.Logger
+	cancelCtx context.Context
+	cancel    func()
+	loop      *control.Loop
+	opMgr     *operation.SingleOperationManager
 }
 
 // EncodedMotorState is the core, non-statistical state for the motor.

control/derivative_test.go

@@ -77,7 +77,8 @@ func TestDerivativeConfig(t *testing.T) {
 }
 
 func TestDerivativeNext(t *testing.T) {
-	const iter int = 3000
+	const iter int64 = 3000
+	const tenMs = 10 * int64(time.Millisecond)
 	logger := golog.NewTestLogger(t)
 	ctx := context.Background()
 	cfg := BlockConfig{
@@ -92,22 +93,22 @@ func TestDerivativeNext(t *testing.T) {
 	d := b.(*derivative)
 	test.That(t, err, test.ShouldBeNil)
 	var sin []float64
-	for i := 0; i < iter; i++ {
-		sin = append(sin, math.Sin((time.Duration(10 * i * int(time.Millisecond)).Seconds())))
+	for i := int64(0); i < iter; i++ {
+		sin = append(sin, math.Sin(time.Duration(i*tenMs).Seconds()))
 	}
 	sig := &Signal{
 		name:      "A",
 		signal:    make([]float64, 1),
 		time:      make([]int, 1),
 		dimension: 1,
 	}
-	for i := 0; i < iter; i++ {
+	for i := int64(0); i < iter; i++ {
 		sig.SetSignalValueAt(0, sin[i])
 		out, ok := d.Next(ctx, []*Signal{sig}, (10 * time.Millisecond))
 		test.That(t, ok, test.ShouldBeTrue)
 		if i > 5 {
 			test.That(t, out[0].GetSignalValueAt(0), test.ShouldAlmostEqual,
-				-math.Sin((time.Duration(10 * i * int(time.Millisecond)).Seconds())), 0.01)
+				-math.Sin((time.Duration(i * tenMs).Seconds())), 0.01)
 		}
 	}
 	cfg = BlockConfig{
@@ -120,13 +121,13 @@ func TestDerivativeNext(t *testing.T) {
 	}
 	err = d.UpdateConfig(ctx, cfg)
 	test.That(t, err, test.ShouldBeNil)
-	for i := 0; i < iter; i++ {
+	for i := int64(0); i < iter; i++ {
 		sig.SetSignalValueAt(0, sin[i])
 		out, ok := d.Next(ctx, []*Signal{sig}, (10 * time.Millisecond))
 		test.That(t, ok, test.ShouldBeTrue)
 		if i > 5 {
 			test.That(t, out[0].GetSignalValueAt(0), test.ShouldAlmostEqual,
-				math.Cos((time.Duration(10 * i * int(time.Millisecond)).Seconds())), 0.01)
+				math.Cos((time.Duration(i * tenMs).Seconds())), 0.01)
 		}
 	}
 	cfg = BlockConfig{
@@ -140,16 +141,16 @@ func TestDerivativeNext(t *testing.T) {
 	err = d.UpdateConfig(ctx, cfg)
 	test.That(t, err, test.ShouldBeNil)
 	sin = nil
-	for i := 0; i < iter; i++ {
-		sin = append(sin, math.Sin(2*math.Pi*(time.Duration(10*i*int(time.Millisecond)).Seconds())))
+	for i := int64(0); i < iter; i++ {
+		sin = append(sin, math.Sin(2*math.Pi*(time.Duration(i*tenMs).Seconds())))
 	}
-	for i := 0; i < iter; i++ {
+	for i := int64(0); i < iter; i++ {
 		sig.SetSignalValueAt(0, sin[i])
 		out, ok := d.Next(ctx, []*Signal{sig}, 10*time.Millisecond)
 		test.That(t, ok, test.ShouldBeTrue)
 		if i > 5 {
 			test.That(t, out[0].GetSignalValueAt(0), test.ShouldAlmostEqual,
-				2*math.Pi*math.Cos(2*math.Pi*(time.Duration(10*i*int(time.Millisecond)).Seconds())), 0.01)
+				2*math.Pi*math.Cos(2*math.Pi*(time.Duration(i*tenMs).Seconds())), 0.01)
 		}
 	}
 }

etc/packaging/32bit/Dockerfile

@@ -0,0 +1,12 @@
+FROM debian:bullseye
+
+RUN apt-get update && apt-get install sudo
+RUN adduser --disabled-password runner
+RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+RUN adduser runner sudo
+USER runner
+WORKDIR /build
+COPY etc/setup.sh .
+RUN ./setup.sh
+RUN sudo apt-get install -qqy wget xz-utils file vim pkg-config
+WORKDIR /rdk