Merge branch 'main' into workflow/update-protos

.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
 )
 

src/viam/examples/modules/complex/proto/buf.lock

@@ -4,5 +4,5 @@ deps:
   - remote: buf.build
     owner: googleapis
     repository: googleapis
-    commit: e7f8d366f5264595bcc4cd4139af9973
-    digest: shake256:e5e5f1c12f82e028ea696faa43b4f9dc6258a6d1226282962a8c8b282e10946281d815884f574bd279ebd9cd7588629beb3db17b892af6c33b56f92f8f67f509
+    commit: c0913f24652a4cfc95f77d97443a5005
+    digest: shake256:0ef3248c6235d420fe61f373154adcde6b94e3297f82472b1d8d8c3747240b61b4a10405e2a6f8ac1c98816ac6e690ea7871024aa5ae0e035cd540214667ceed

src/viam/sdk/CMakeLists.txt

@@ -76,6 +76,7 @@ target_sources(viamsdk
     components/private/board_server.cpp
     components/private/camera_client.cpp
     components/private/camera_server.cpp
+    components/private/encoder.cpp
     components/private/encoder_client.cpp
     components/private/encoder_server.cpp
     components/private/gantry_client.cpp
@@ -119,13 +120,16 @@ target_sources(viamsdk
     services/generic.cpp
     services/mlmodel.cpp
     services/motion.cpp
+    services/navigation.cpp
     services/private/generic_client.cpp
     services/private/generic_server.cpp
     services/private/mlmodel.cpp
     services/private/mlmodel_client.cpp
     services/private/mlmodel_server.cpp
     services/private/motion_client.cpp
     services/private/motion_server.cpp
+    services/private/navigation_client.cpp
+    services/private/navigation_server.cpp
     services/service.cpp
     spatialmath/geometry.cpp
     spatialmath/orientation.cpp
@@ -179,6 +183,7 @@ target_sources(viamsdk
       ../../viam/sdk/services/generic.hpp
       ../../viam/sdk/services/mlmodel.hpp
       ../../viam/sdk/services/motion.hpp
+      ../../viam/sdk/services/navigation.hpp
       ../../viam/sdk/services/service.hpp
       ../../viam/sdk/spatialmath/geometry.hpp
       ../../viam/sdk/spatialmath/orientation.hpp

src/viam/sdk/common/private/proto_utils.hpp

@@ -0,0 +1,63 @@
+/// @file common/proto_utils.hpp
+///
+/// @brief Utils that require generated proto includes. These should be #included
+/// in cpp implementation files, but not in wrapper headers consumed by third party code.
+#pragma once
+
+#include <viam/api/common/v1/common.pb.h>
+
+namespace viam {
+namespace sdk {
+namespace impl {
+
+/// @brief Copies elements from a protobuf repeated pointer array into a std::vector. Src type
+/// must have a `to_proto` method.
+template <typename Src, typename Dst>
+void vecToRepeatedPtr(const std::vector<Src>& vec, google::protobuf::RepeatedPtrField<Dst>& dest) {
+    dest.Clear();
+    dest.Reserve(vec.size());
+    for (auto& x : vec) {
+        *dest.Add() = x.to_proto();
+    }
+}
+
+/// @brief Non-member to_proto() version. (necessary for moving generated types out of wrapper
+/// headers). Takes explicit `to_proto`.
+template <typename Src, typename Dst>
+void vecToRepeatedPtr(const std::vector<Src>& vec,
+                      google::protobuf::RepeatedPtrField<Dst>& dest,
+                      Dst to_proto(const Src&)) {
+    dest.Clear();
+    dest.Reserve(vec.size());
+    for (auto& x : vec) {
+        *dest.Add() = to_proto(x);
+    }
+}
+
+/// @brief Copies elements from a std::vector into a protobuf repeated pointer array. Dst type
+/// must have a `from_proto` static method.
+template <typename Src, typename Dst>
+void repeatedPtrToVec(const google::protobuf::RepeatedPtrField<Src>& src, std::vector<Dst>& vec) {
+    vec.clear();
+    vec.reserve(src.size());
+    for (auto& x : src) {
+        vec.push_back(Dst::from_proto(x));
+    }
+}
+
+/// @brief Non-member from_proto() version. (necessary for moving generated types out of wrapper
+/// headers). Takes explicit `from_proto`.
+template <typename Src, typename Dst>
+void repeatedPtrToVec(const google::protobuf::RepeatedPtrField<Src>& src,
+                      std::vector<Dst>& vec,
+                      Dst from_proto(const Src&)) {
+    vec.clear();
+    vec.reserve(src.size());
+    for (auto& x : src) {
+        vec.push_back(from_proto(x));
+    }
+}
+
+}  // namespace impl
+}  // namespace sdk
+}  // namespace viam

src/viam/sdk/common/utils.cpp

@@ -4,6 +4,7 @@
 #include <unordered_map>
 #include <vector>
 
+#include <boost/algorithm/string.hpp>
 #include <boost/blank.hpp>
 #include <boost/log/core.hpp>
 #include <boost/log/expressions.hpp>
@@ -183,6 +184,26 @@ bool from_dm_from_extra(const ProtoStruct& extra) {
     }
     return false;
 }
+std::pair<std::string, std::string> long_name_to_remote_and_short(const std::string& long_name) {
+    std::vector<std::string> name_parts;
+    // boost::split causes a clang-tidy false positive, see
+    // https://bugs.llvm.org/show_bug.cgi?id=41141
+    //
+    // NOLINTNEXTLINE
+    boost::split(name_parts, long_name, boost::is_any_of(":"));
+    auto name = name_parts.back();
+    name_parts.pop_back();
+    auto remote_name = name_parts.empty()
+                           ? ""
+                           : std::accumulate(std::next(name_parts.begin()),
+                                             name_parts.end(),
+                                             *name_parts.begin(),
+                                             [](const std::string& a, const std::string& b) {
+                                                 return a + ":" + b;
+                                             });
+
+    return {std::move(remote_name), std::move(name)};
+}
 
 }  // namespace sdk
 }  // namespace viam

src/viam/sdk/common/utils.hpp

@@ -61,6 +61,10 @@ class ClientContext {
     grpc::ClientContext wrapped_context_;
 };
 
+/// @brief Given a fully qualified resource name, returns remote name (or "" if no remote name
+/// exists) and short name
+std::pair<std::string, std::string> long_name_to_remote_and_short(const std::string& long_name);
+
 /// @brief Returns a new `ProtoStruct` with a random key for server-side debug logging
 ProtoStruct debug_map();