Move dial logic to rust-utils (#1)

Moves all dial/ffi logic from the `rust-sdk` repo into the `rust-utils` repo.

.github/CODEOWNERS

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+* @npmenard @stuqdog

.github/workflows/checks.yml

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+name: Build and Checks
+
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  checks:
+    if: github.repository_owner == 'viamrobotics'
+    runs-on: [self-hosted, x64]
+    container:
+      image: ghcr.io/viamrobotics/canon:amd64
+    steps:
+      - name: Checkout PR/Push/Workflow Dispatch
+        uses: actions/checkout@v2
+      - name: Setup Rust toolchain
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: stable
+          components: clippy
+      - name: Run Clippy
+        uses: actions-rs/clippy-check@v1
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          args: --all-features
+      - name: Build
+        uses: actions-rs/cargo@v1
+        with:
+          command: build

.github/workflows/license_finder.yml

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+name: License Finder
+
+on:
+  workflow_dispatch:
+  workflow_call:
+  pull_request:
+    branches: ['main']
+  push:
+
+jobs:
+  license_finder:
+    name: Audit 3rd-Party Licenses
+    runs-on: [x64, qemu-host]
+    container:
+      image: ghcr.io/viamrobotics/canon:amd64-cache
+      options: --platform linux/amd64
+    timeout-minutes: 30
+
+    steps:
+      - name: Check out code
+        uses: actions/checkout@v2
+        with:
+          fetch-depth: 2
+
+      - name: Install latest rust toolchain
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: stable
+          default: true
+          override: true
+
+      - name: Run license finder
+        run: license_finder

.github/workflows/release.yml

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+name: Build release binaries
+
+on:
+  workflow_dispatch:
+
+jobs:
+  build_native:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: macos-latest
+            arch: arm64
+            target: aarch64-apple-darwin
+            platform: macosx_arm64
+          - os: macos-latest
+            arch: x86_64
+            target: x86_64-apple-darwin
+            platform: macosx_x86_64
+    steps:
+      - uses: actions/checkout@v2
+      - name: Setup rust toolchain
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: stable
+          target: ${{ matrix.target }}
+      - name: Setup build directory
+        run: mkdir builds
+      - name: Build
+        uses: actions-rs/cargo@v1
+        with:
+          command: build
+          args: --release --target=${{ matrix.target }}
+      - name: Copy
+        run: cp target/${{ matrix.target }}/release/libviam.dylib builds/libviam-${{ matrix.platform }}.dylib
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: builds
+          path: builds
+
+  build_in_container:
+    runs-on: ${{ matrix.arch }}
+    container:
+      image: ${{ matrix.image }}
+      options: ${{ matrix.opts }}
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - arch: [arm64, qemu-host]
+            target: aarch64-unknown-linux-gnu
+            platform: linux_aarch64
+            ext: so
+            image: 'ghcr.io/viamrobotics/canon:arm64-cache'
+            opts: '--platform linux/arm64'
+          - arch: [x64, qemu-host]
+            target: x86_64-unknown-linux-gnu
+            platform: linux_x86_64
+            ext: so
+            image: 'ghcr.io/viamrobotics/canon:amd64-cache'
+            opts: '--platform linux/amd64'
+    steps:
+      - uses: actions/checkout@v2
+      - name: Setup rust toolchain
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: stable
+          target: ${{ matrix.target }}
+      - name: Setup build directory
+        run: mkdir builds
+      - name: Build
+        uses: actions-rs/cargo@v1
+        with:
+          command: build
+          args: --release --target=${{ matrix.target }}
+      - name: Copy
+        run: cp target/${{ matrix.target }}/release/libviam.${{ matrix.ext }} builds/libviam-${{ matrix.platform }}.${{ matrix.ext }}
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: builds
+          path: builds

.github/workflows/update_protos.yml

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+name: Update Protos + Open PR
+
+on:
+  workflow_dispatch:
+  repository_dispatch:
+    types:
+      - protos-updated
+
+jobs:
+  update-protos:
+    if: github.repository_owner == 'viamrobotics'
+    runs-on: [self-hosted, x64]
+    container:
+      image: ghcr.io/viamrobotics/canon:amd64
+    steps:
+      - uses: actions/checkout@v3
+      - uses: bufbuild/[email protected]
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+      - uses: arduino/setup-protoc@v1
+        with:
+          repo-token: ${{ secrets.GITHUB_TOKEN }}
+      - name: Generate buf
+        run: make buf
+        env:
+          BUF_TOKEN: ${{ secrets.BUF_TOKEN }}
+      - name: Add + Commit + Open PR
+        uses: peter-evans/create-pull-request@v3
+        with:
+          commit-message: '[WORKFLOW] Updating protos from ${{ github.event.client_payload.repo_name }}, commit: ${{ github.event.client_payload.sha }}'
+          branch: 'origin/update-protos'
+          delete-branch: true
+          title: Automated Protos Update
+          body: This is an auto-generated PR to update proto definitions. Check the commits to see which repos and commits are responsible for the changes
+          assignees: npmenard,stuqdog
+          reviewers: npmenard,stuqdog

.gitignore

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+Cargo.lock
+target/
+**/*.rs.bk
+
+*.DS_Store

Cargo.toml

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+[package]
+name = "viam-rust-utils"
+version = "0.0.1"
+edition = "2021"
+
+[lib]
+crate-type = ["cdylib","lib"]
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+anyhow = { version = "1.0", features = ["backtrace"]}
+base64 = "0.13.0"
+byteorder = "1.4.3"
+bytes = "1.1.0"
+chashmap = "2.2.2"
+derivative = "2.2.0"
+futures = {version = "0.3", default-features = false, features = ["alloc", "executor"]}
+futures-core = "0.3"
+futures-util = "0.3"
+http = "0.2.7"
+http-body = {version = "0.4.4"}
+hyper = { version = "0.14.20", features = ["full"]  }
+interceptor = "0.8.0"
+libc = {version = "0.2"}
+log = "0.4.17"
+prost = "0.10"
+prost-types = "0.10"
+rand = "0.8.5"
+serde = { version = "1.0", features = ["derive"] }
+serde_json = "1.0"
+tokio = {version = "1.19", features = ["rt-multi-thread", "time", "fs", "macros", "net"]}
+tokio-stream = {version = "0.1", features = ["net"]}
+tokio-rustls = { version = "0.23.4"}
+tonic = {version = "0.7.2",features = [ "tls", "compression", "tls-roots",]}
+tower = { version = "0.4" }
+tower-http = { version = "0.3.3", features = ["add-extension","auth","propagate-header","set-header","sensitive-headers","trace","compression-gzip"]}
+tracing = {version = "0.1.34"}
+tracing-subscriber = {version = "0.3.11", features = ["env-filter"]}
+webpki-roots = "0.21.1"
+webrtc = "0.5.0"
+
+
+[build-dependencies]
+tonic-build = {version = "0.7.2",features = ["prost", "compression"]}
+

Makefile

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+all: build build-example
+build:
+	cargo build
+build-example:
+	cd examples/ && cargo build
+buf-clean:
+	find src/gen -type f \( -iname "*.rs" ! -iname "mod.rs" \) -delete
+buf:	buf-clean
+	buf generate buf.build/viamrobotics/goutils --template buf.gen.yaml
+	buf generate buf.build/googleapis/googleapis --template buf.gen.yaml --path google/rpc --path google/api

buf.gen.yaml

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+version: v1
+plugins:
+  - remote: buf.build/prost/plugins/prost:v0.1.3-2
+    out: src/gen/
+  - remote: buf.build/prost/plugins/tonic:v0.1.0-2
+    out: src/gen/

examples/Cargo.toml

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+[package]
+edition = "2021"
+name = "example"
+version = "0.0.1"
+
+[[bin]]
+name = "test-dial"
+path = "src/dial/main.rs"
+
+[[bin]]
+name = "test-echo"
+path = "src/echo/main.rs"
+
+[dependencies]
+viam = {package="viam-rust-utils", path = "../"}
+anyhow = { version = "1.0", features = ["backtrace"]}
+async-stream = "0.3.3"
+futures-util = "0.3"
+tokio = { version = "1.19", features = [ "rt-multi-thread", "time", "fs", "macros", "net", ] }
+tonic = {version = "0.7.2",features = ["tls", "compression", "tls-roots"]}
+tower = "0.4.0"
+env_logger = "0.9.0"

examples/src/echo/main.rs

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+use anyhow::Result;
+use viam::gen::proto::rpc::examples::echo::v1::echo_service_client::EchoServiceClient;
+use viam::gen::proto::rpc::examples::echo::v1::{
+    EchoBiDiRequest, EchoMultipleRequest, EchoRequest,
+};
+use viam::rpc::dial;
+
+#[tokio::main]
+/// Tests unary, server, and bidi streaming with simple echo requests. To run, simply
+/// update the credentials and uri as necessary.
+async fn main() -> Result<()> {
+    let creds = dial::CredentialsExt::new(
+        "robot-location-secret".to_string(),
+        "ytexnwei4fu1xv9csoqxfv4ckl3htsb49mzzey5t15xo9swy".to_string(),
+    );
+
+    let c = dial::DialOptions::builder()
+        .uri("webrtc-test-main.jkek76kqnh.viam.cloud")
+        .with_credentials(creds)
+        .allow_downgrade()
+        .connect()
+        .await?;
+
+    let mut service = EchoServiceClient::new(c);
+    let echo_request = EchoRequest {
+        message: "hi".to_string(),
+    };
+    let resp = service.echo(echo_request).await?.into_inner();
+    println!("resp: {resp:?}");
+
+    let multi_echo_request = EchoMultipleRequest {
+        message: "hello?".to_string(),
+    };
+    let mut resp = service
+        .echo_multiple(multi_echo_request)
+        .await?
+        .into_inner();
+
+    while let Some(resp) = resp.message().await? {
+        println!("multiple response: {resp:?}");
+    }
+
+    let bidi_stream = async_stream::stream! {
+        for i in 0..3 {
+            let request =
+            EchoBiDiRequest {
+                message: i.to_string()
+            };
+            yield request;
+        }
+    };
+
+    let mut bidi_resp = service.echo_bi_di(bidi_stream).await?.into_inner();
+    while let Some(resp) = bidi_resp.message().await? {
+        println!("Bidi response: {resp:?}");
+    }
+
+    Ok(())
+}

examples/src/ffi/cpp/.gitignore

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+gen
+ffi_echo
+ffi_echo.o
+ffi_robot
+ffi_robot.o

examples/src/ffi/cpp/Makefile

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+LDFLAGS = -L/usr/local/lib `pkg-config --libs protobuf grpc++ re2 libcares`\
+-ldl -L../../../../target/debug -lviam_rust_utils
+
+CXX = g++
+CXXFLAGS += `pkg-config --cflags protobuf grpc`
+CXXFLAGS += -std=c++11 -I gen/ -I gen/proto/
+
+all: buf ffi_echo
+
+ffi_echo: gen/google/api/http.pb.o gen/google/api/annotations.pb.o gen/proto/rpc/examples/echo/v1/echo.pb.o gen/proto/rpc/examples/echo/v1/echo.grpc.pb.o ffi_echo.o
+	$(CXX) $^ $(CXXFLAGS) $(LDFLAGS) -o $@
+
+ffi_robot: gen/google/api/http.pb.o gen/google/api/annotations.pb.o gen/robot/v1/robot.pb.o gen/robot/v1/robot.grpc.pb.o gen/common/v1/common.pb.o gen/common/v1/common.grpc.pb.o ffi_robot.o
+	$(CXX) $^ $(CXXFLAGS) $(LDFLAGS) -o $@
+
+buf:
+	@mkdir -p gen
+	buf generate buf.build/viamrobotics/goutils --template buf.gen.yaml
+	buf generate buf.build/googleapis/googleapis --template buf.gen.yaml --path google/rpc --path google/api 
+	buf generate buf.build/viamrobotics/api --template buf.gen.yaml
+clean:
+	rm -f ffi_echo *.o
+	rm -rf gen/*

examples/src/ffi/cpp/buf.gen.yaml

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+version: v1
+plugins:
+  - name: cpp
+    out: gen/
+  - remote: buf.build/grpc/plugins/cpp:v1.45.2-1
+    out: gen/