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Added CD GHA
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‎.devcontainer/Dockerfile.amd64

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FROM ubuntu:22.04
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RUN apt-get update --fix-missing &&\
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apt-get install -y --no-install-recommends build-essential ca-certificates git g++ pkg-config python3 curl ninja-build tar zip unzip zlib1g-dev libssl-dev wget &&\
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apt-get autoclean &&\
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apt-get autoremove &&\
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apt-get clean &&\
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rm -rf /var/lib/apt/lists/*
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RUN update-ca-certificates
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RUN wget https://github.com/Kitware/CMake/releases/download/v3.28.3/cmake-3.28.3.tar.gz &&\
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tar -xzf cmake-3.28.3.tar.gz &&\
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cd cmake-3.28.3 &&\
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./configure &&\
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make install &&\
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cd .. &&\
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rm cmake-3.28.3.tar.gz &&\
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rm -r cmake-3.28.3
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RUN git clone https://github.com/microsoft/vcpkg &&\
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cd vcpkg &&\
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git checkout 3b213864579b6fa686e38715508f7cd41a50900f &&\
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./bootstrap-vcpkg.sh -disableMetrics &&\
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./vcpkg install grpc:x64-linux &&\
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./vcpkg install eigen3:x64-linux &&\
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./vcpkg install cli11:x64-linux

‎.devcontainer/Dockerfile.arm64

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FROM arm64v8/ubuntu:22.04
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SHELL ["/bin/bash", "-c"]
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RUN apt-get update --fix-missing &&\
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apt-get install -y --no-install-recommends build-essential ca-certificates cmake git g++ pkg-config python3 curl ninja-build tar zip unzip zlib1g-dev libssl-dev wget &&\
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apt-get autoclean &&\
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apt-get autoremove &&\
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apt-get clean &&\
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rm -rf /var/lib/apt/lists/*
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RUN update-ca-certificates
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RUN wget https://github.com/Kitware/CMake/releases/download/v3.28.3/cmake-3.28.3.tar.gz &&\
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tar -xzf cmake-3.28.3.tar.gz &&\
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cd cmake-3.28.3 &&\
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./configure &&\
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make install &&\
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cd .. &&\
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rm cmake-3.28.3.tar.gz &&\
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rm -r cmake-3.28.3
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RUN git clone https://github.com/microsoft/vcpkg &&\
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cd vcpkg &&\
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git checkout 3b213864579b6fa686e38715508f7cd41a50900f &&\
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export VCPKG_FORCE_SYSTEM_BINARIES=arm &&\
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./bootstrap-vcpkg.sh -disableMetrics &&\
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./vcpkg install grpc:arm64-linux &&\
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./vcpkg install eigen3:arm64-linux &&\
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./vcpkg install cli11:arm64-linux

‎.github/workflows/cd.yml

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# Commented out due to speed of runners. Uncomment when we get the better ones.
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# # This workflow automatically releases binaries upon tagging.
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# name: spot-cpp-sdk CD
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# on:
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# push:
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# tags:
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# - '*'
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# concurrency:
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# group: ${{ github.workflow }}-${{ github.ref }}
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# cancel-in-progress: true
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# env:
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# REGISTRY: ghcr.io
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# # github.repository as <account>/<repo>
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# IMAGE_NAME: bdaiinstitute/spot_cpp_sdk_builder
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# jobs:
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# build-docker-image:
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# permissions:
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# contents: read
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# packages: write
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# # This is used to complete the identity challenge
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# # with sigstore/fulcio when running outside of PRs.
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# id-token: write
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# strategy:
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# fail-fast: false
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# matrix:
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# config:
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# - { arch: "amd64" }
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# - { arch: "arm64" }
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# name: Build docker image for ${{ matrix.config.arch }}
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# runs-on: ubuntu-latest
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# steps:
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# - name: Checkout repository
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# uses: actions/checkout@v4
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# - name: Set up QEMU # as virtualization is necessary to build container images
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# uses: docker/setup-qemu-action@v3
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# - name: Setup Docker buildx # to workaround: https://github.com/docker/build-push-action/issues/461
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# uses: docker/setup-buildx-action@79abd3f86f79a9d68a23c75a09a9a85889262adf
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# - name: Log into registry ${{ env.REGISTRY }}
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# uses: docker/login-action@v3 # https://github.com/docker/login-action
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# with:
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# registry: ${{ env.REGISTRY }}
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# username: ${{ github.actor }}
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# password: ${{ secrets.GITHUB_TOKEN }}
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# # Extract metadata (tags, labels) for Docker
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# # https://github.com/docker/metadata-action
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# - name: Extract Docker metadata
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# id: meta
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# uses: docker/metadata-action@v5
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# with:
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# images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}_${{ matrix.config.arch }}
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# - name: Build and push
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# uses: docker/build-push-action@v5 # https://github.com/docker/build-push-action
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# id: build
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# with:
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# context: .
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# file: .devcontainer/Dockerfile.${{ matrix.config.arch }}
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# tags: ${{ steps.meta.outputs.tags }}
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# labels: ${{ steps.meta.outputs.labels }}
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# cache-from: type=gha
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# cache-to: type=gha,mode=max
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# push: true
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# build-artifacts:
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# strategy:
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# fail-fast: false
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# matrix:
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# config:
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# - { arch: "amd64" }
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# - { arch: "arm64" }
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# name: Build spot-cpp-sdk for ${{ matrix.config.arch }}
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# # needs: build-docker-image
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# runs-on: ubuntu-latest
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# container:
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# # env cannot be used here...
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# image: ghcr.io/bdaiinstitute/spot_cpp_sdk_builder_${{ matrix.config.arch }}:latest
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# steps:
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# - name: Checkout repository
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# uses: actions/checkout@v4
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# - name: Build spot-sdk-cpp
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# run: |
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# cd spot-sdk-cpp/cpp
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# mkdir build
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# cd build
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# cmake ../ -DCMAKE_TOOLCHAIN_FILE=/vcpkg/scripts/buildsystems/vcpkg.cmake -DCMAKE_FIND_PACKAGE_PREFER_CONFIG=TRUE -DBUILD_CHOREOGRAPHY_LIBS=ON
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# make -j2 install package
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# - name: Upload ${{ matrix.config.arch }} artifact
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# uses: actions/upload-artifact@v4
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# with:
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# name: ${{ matrix.config.arch }}-artifact
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# path: '*.deb'
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# retention-days: 1
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# bundle-debians:
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# name: Release artifacts
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# runs-on: ubuntu-latest
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# needs: build-artifacts
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# steps:
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# - name: Download artifacts
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# uses: actions/download-artifact@v4
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# with:
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# pattern: '*-artifact'
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# merge-multiple: true
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# - name: Release to GitHub
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# uses: softprops/action-gh-release@v1
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# with:
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# name: Release ${{ github.ref_name }}
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# files: '*.deb'
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‎cpp/CMakeLists.txt

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if (bosdyn_protos_files)
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add_library(bosdyn_api_obj OBJECT ${bosdyn_protos_files})
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set_property(TARGET bosdyn_api_obj PROPERTY POSITION_INDEPENDENT_CODE 1)
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target_link_libraries(bosdyn_api_obj PUBLIC ${PROTOBUF_LIBRARIES} gRPC::grpc gRPC::grpc++)
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target_link_libraries(bosdyn_api_obj PUBLIC protobuf::libprotobuf gRPC::grpc gRPC::grpc++)
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target_include_directories(bosdyn_api_obj PUBLIC
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$<BUILD_INTERFACE:${protos_OUTPUT_DIR}>
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$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>

‎docs/cpp/quickstart.md

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The `make` command generates a lot of deprecation warnings during the compiling of the classes generated from the protobuf definitions. This is expected as the protobuf definitions contain `deprecated` flags for fields that will not be supported in future versions of the SDK.
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Build the SDK and generate a debian package using the `make` command below:
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```
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make -j6 install package
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```
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**On Windows:**
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- Open the `sln` file in the build folder in Microsoft Visual Studio.

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