Merge pull request #1 from seanavery/csi-poc

CSI Module POC

.clang-format

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+AllowShortFunctionsOnASingleLine: Empty
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+BasedOnStyle: Google
+BinPackArguments: false
+BinPackParameters: false
+ColumnLimit: 100
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+IncludeBlocks: Preserve
+IncludeCategories:
+  - Regex: '<.*>'
+    Priority: 1
+    SortPriority: 0
+  - Regex: '^(<|"(boost|google|grpc)/)'
+    Priority: 3
+    SortPriority: 0
+  - Regex: '.*'
+    Priority: 1
+    SortPriority: 0
+IncludeIsMainRegex: '(Test)?$'
+IncludeIsMainSourceRegex: ''
+IndentWidth: 4
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+SortIncludes: true
+SpaceBeforeAssignmentOperators: true
+Standard: Cpp11
+UseTab: Never

.dockerignore

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+**/.git
+.DS_Store
+build
+etc/AppDir
+bin

.github/workflows/ci.yml

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+name: Build Docker Container
+
+on:
+  push:
+    branches:
+      - master
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+      -
+        name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+      -
+        name: Set up QEMU
+        uses: docker/setup-qemu-action@v2
+      - name: Build Docker container
+        uses: docker/build-push-action@v4
+        with:
+          context: .
+          file: etc/Dockerfile.jetson
+          tags: viam-csi-build:0.0.1
+          build-args: |
+            TAG=35.3.1

.gitignore

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+build
+gen
+bin
+etc/AppDir
+etc/appimage-build
+*.AppImage*
+*.tar*

.gitmodules

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+[submodule "viam-cpp-sdk"]
+	path = viam-cpp-sdk
+	url = [email protected]:viamrobotics/viam-cpp-sdk.git

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.25)
+
+project(viam-csi
+        VERSION 0.0.1
+        DESCRIPTION "CSI camera modular resource"
+)
+
+set(CMAKE_CXX_STANDARD 14) # setting C++ 14 standard
+find_package(PkgConfig REQUIRED) # finding pkg-config is a helper tool
+
+# finding cpp sdk
+set(CMAKE_PREFIX_PATH "/home/viam/viam-cpp-sdk/build/install" ${CMAKE_PREFIX_PATH})
+find_package(viam-cpp-sdk CONFIG REQUIRED)
+
+# using pkg-config to getting Gstreamer
+pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0 gstreamer-app-1.0 gstreamer-base-1.0)
+
+# including GStreamer header files directory
+include_directories(
+        ${GLIB_INCLUDE_DIRS}
+        ${GSTREAMER_INCLUDE_DIRS}
+)
+
+# linking GStreamer library directory
+link_directories(
+        ${GLIB_LIBRARY_DIRS}
+        ${GSTREAMER_LIBRARY_DIRS}
+)
+
+# building target executable
+add_executable(${PROJECT_NAME} main.cpp)
+
+# linking Gstreamer library with target executable
+target_link_libraries(${PROJECT_NAME} 
+        ${GSTREAMER_LIBRARIES} 
+        viam-cpp-sdk::viamsdk
+        viam_rust_utils
+)
+
+# running clang-tidy linter
+# find_program(CLANG_TIDY_EXE NAMES "clang-tidy")
+# if(CLANG_TIDY_EXE)
+#     set(CMAKE_CXX_CLANG_TIDY "${CLANG_TIDY_EXE}")
+# endif()
+
+# installing executable
+install(TARGETS ${PROJECT_NAME} DESTINATION usr/local/bin)

Makefile

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+# CMake
+BUILD_DIR := ./build
+INSTALL_DIR := $(BUILD_DIR)/AppDir
+BIN_DIR := ./bin
+
+# Docker
+IMAGE_NAME := viam-csi
+IMAGE_TAG := 0.0.1
+L4T_VERSION := 35.3.1
+
+# Module
+# Builds/installs module.
+.PHONY: build
+build:
+	rm -rf $(BUILD_DIR) | true && \
+	mkdir -p build && \
+	cd build && \
+	cmake -DCMAKE_INSTALL_PREFIX=$(INSTALL_DIR) .. -G Ninja && \
+	ninja -j $(shell nproc)
+
+# Creates appimage cmake build.
+package:
+	cd etc && \
+	appimage-builder --recipe viam-csi-module-aarch64.yml
+
+# Builds docker image with viam-cpp-sdk and viam-csi installed.
+image:
+	rm -rf build | true && \
+	docker build -t $(IMAGE_NAME):$(IMAGE_TAG) \
+		--target=cpp-sdk-builder \
+		--memory=16g \
+		--build-arg TAG=$(L4T_VERSION) \
+		-f ./etc/Dockerfile.jetson ./
+
+# Runs docker image with shell.
+docker-module:
+	docker run \
+		--device /dev/fuse \
+		--cap-add SYS_ADMIN \
+		-it $(IMAGE_NAME):$(IMAGE_TAG)
+
+# Copies binary and AppImage from container to host.
+bin-module:
+	rm -rf bin | true && \
+	mkdir -p bin && \
+	docker stop viam-csi-bin | true && \
+	docker rm viam-csi-bin | true && \
+	docker run -d -it --name viam-csi-bin $(IMAGE_NAME):$(IMAGE_TAG) && \
+	docker cp viam-csi-bin:/root/opt/src/viam-csi/etc/viam-csi-0.0.1-aarch64.AppImage ./bin && \
+	docker cp viam-csi-bin:/root/opt/src/viam-csi/build/viam-csi ./bin && \
+	docker stop viam-csi-bin
+
+# SDK
+.PHONY: build-sdk
+build-sdk:
+	cd viam-cpp-sdk && \
+	mkdir -p build && \
+	cd build && \
+	cmake -DVIAMCPPSDK_USE_DYNAMIC_PROTOS=ON -DVIAMCPPSDK_OFFLINE_PROTO_GENERATION=ON .. -G Ninja && \
+	ninja -j $(shell nproc) && \
+	sudo ninja install -j $(shell nproc)) && \
+	cp -r ./install/* /usr/local/
+
+docker-sdk:
+	docker build -t viam-cpp-sdk -f ./viam-cpp-sdk/etc/docker/Dockerfile.ubuntu.focal ./ && \
+	docker run -it viam-cpp-sdk /bin/bash
+
+# Tests
+# Tests out package in a fresh container.
+docker-tests:
+	docker build \
+		-t viam-csi-tests \
+		--build-arg TAG=$(L4T_VERSION) \
+		-f ./etc/Dockerfile.test.jetson ./ && \
+	docker run  \
+		--device /dev/fuse \
+		--cap-add SYS_ADMIN \
+		-it \
+		viam-csi-tests \
+		/bin/bash
+
+docker-ci:
+	docker buildx build \
+		-f etc/Dockerfile.jetson \
+		--platform linux/arm64 \
+		-t viam-csi-ci:latest \
+		--build-arg TAG=35.3.1 \
+		./
+
+# Utils
+# Installs waveshare camera overrides.
+waveshare:
+	mkdir -p gen && \
+	wget https://www.waveshare.com/w/upload/e/eb/Camera_overrides.tar.gz -O gen/Camera_overrides.tar.gz && \
+	tar -xvf gen/Camera_overrides.tar.gz -C gen && \
+	sudo cp gen/camera_overrides.isp /var/nvidia/nvcam/settings/ && \
+	sudo chmod 664 /var/nvidia/nvcam/settings/camera_overrides.isp && \
+	sudo chown root:root /var/nvidia/nvcam/settings/camera_overrides.isp

README.md

@@ -1,6 +1,20 @@
 # viam-csi
 > csi camera viam module
 
+### why?
+
+Want to use CSI cameras with viam? This is the module for you. viam-csi is a [Viam Module](https://docs.viam.com/extend/modular-resources/) that includes a simple wrapper around [GStreamer](https://gstreamer.freedesktop.org/documentation/?gi-language=c) and an interface that satisfies a [Viam Camera Component](https://docs.viam.com/components/camera/webcam/). This means you can utilize the hardware accelerated GST plugins on your Jetson or Pi with the Viam ecosystem.
+
+### usage
+
+1. Download appimage from releases page.
+```bash
+sudo curl -o /usr/local/bin/viam-csi https://github.com/seanvery/viam-csi/archive/refs/tags/v0.0.01-viam-csi
+sudo chmod a+rx /usr/local/bin/viam-csi
+```
+
+2. Run RDK with example config file [etc/app-config.json](https://github.com/seanavery/viam-csi/blob/master/etc/app-config.json).
+
 ### support
 - [x] jetson
 - [ ] pi

constraints.h

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+#pragma once
+
+// Module
+#define DEFAULT_SOCKET_PATH "/tmp/viam.csi.sock"
+#define RESOURCE_TYPE "CSICamera"
+#define API_NAMESPACE "viam"
+#define API_TYPE "camera"
+#define API_SUBTYPE "csi"
+
+// Camera
+#define FAKE_CAMERA false
+#define DEFAULT_INPUT_SOURCE "nvarguscamerasrc"
+#define DEFAULT_INPUT_SENSOR "0"
+#define DEFAULT_INPUT_FORMAT "video/x-raw(memory:NVMM)"
+#define DEFAULT_INPUT_WIDTH 1920
+#define DEFAULT_INPUT_HEIGHT 1080
+#define DEFAULT_INPUT_FRAMERATE 30
+#define DEFAULT_INPUT_FLIP_METHOD "0"
+#define DEFAULT_OUTPUT_FORMAT "video/x-raw"
+#define DEFAULT_OUTPUT_WIDTH 960
+#define DEFAULT_OUTPUT_HEIGHT 540
+#define DEFAULT_OUTPUT_ENCODER "nvjpegenc"
+#define DEFAULT_OUTPUT_MIMETYPE "image/jpeg"