RSDK-7440: Build example projects in CI (#276)

viamrobotics · Aug 12, 2024 · fef2b46 · fef2b46
1 parent 5c72e22
commit fef2b46
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Showing 7 changed files with 32 additions and 10 deletions.
diff --git a/etc/docker/tests/run_test.sh b/etc/docker/tests/run_test.sh
@@ -9,9 +9,26 @@ cmake .. -G Ninja -DVIAMCPPSDK_USE_DYNAMIC_PROTOS=ON \
 		-DVIAMCPPSDK_CLANG_TIDY=ON
 ninja all
 ninja install
+INSTALL_DIR="$(pwd)/install"
+
 pushd src/viam/sdk/tests
 UBSAN_OPTIONS="print_stacktrace=1" ctest --output-on-failure
 popd
 pushd src/viam/examples/modules/complex
 UBSAN_OPTIONS="print_stacktrace=1" ctest --output-on-failure
 popd
+
+# Test that example_module builds and runs with the SDK install from above.
+# Check with both CMake and make/pkg-config that we can build the example
+# and have it exit with the expected error message.
+
+cd ../src/viam/examples/project
+pushd cmake
+cmake . -G Ninja # Just do an in-source build to save path fiddling
+ninja all
+[ $(./example_module 2>&1 | grep 'main failed with exception:' -c) = 1 ]
+popd
+pushd pkg-config
+PKG_CONFIG_PATH=${INSTALL_DIR}/lib/pkgconfig make all
+[ $(./example_module 2>&1 | grep 'main failed with exception:' -c) = 1 ]
+popd
diff --git a/src/viam/api/config/viam-cpp-sdk-libviamapi.pc.in b/src/viam/api/config/viam-cpp-sdk-libviamapi.pc.in
@@ -7,7 +7,7 @@ Name: @PROJECT_NAME@-libapi
 Description: @PROJECT_DESCRIPTION@
 URL: @PROJECT_HOMEPAGE_URL@
 Version: @PROJECT_VERSION@
-Requires: gRPC++ >= @VIAMCPPSDK_GRPCXX_VERSION@ protobuf >= @VIAMCPPSDK_PROTOBUF_VERSION@
+Requires: grpc++ >= @VIAMCPPSDK_GRPCXX_VERSION@ protobuf >= @VIAMCPPSDK_PROTOBUF_VERSION@
 Libs: -Wl,-rpath,${libdir} -L${libdir} -L@Boost_LIBRARY_DIRS@ -lviamapi
 Cflags: -I${base_includedir} -I${deep_includedir}
 
diff --git a/src/viam/examples/modules/complex/proto/buf.lock b/src/viam/examples/modules/complex/proto/buf.lock
@@ -4,5 +4,5 @@ deps:
   - remote: buf.build
     owner: googleapis
     repository: googleapis
-    commit: 2bbd25900cb34c79bae97d85c948d3cf
-    digest: shake256:a6446e23f4408160217c22738a0c8c370ff3ff966f601d678960b803829cf53b5cf5998d20fcb3f9c9be944b24337843e7beb6e681ddbf9d036fb6491c0e47e7
+    commit: 8bc2c51e08c447cd8886cdea48a73e14
+    digest: shake256:a969155953a5cedc5b2df5b42c368f2bc66ff8ce1804bc96e0f14ff2ee8a893687963058909df844d1643cdbc98ff099d2daa6bc9f9f5b8886c49afdc60e19af
diff --git a/src/viam/examples/modules/simple/main.cpp b/src/viam/examples/modules/simple/main.cpp
@@ -10,6 +10,7 @@
 #include <viam/api/robot/v1/robot.pb.h>
 #include <viam/api/service/generic/v1/generic.grpc.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/config/resource.hpp>
 #include <viam/sdk/module/module.hpp>
 #include <viam/sdk/module/service.hpp>
@@ -72,7 +73,7 @@ class Printer : public GenericService, public Reconfigurable {
     std::string to_print_;
 };
 
-int main(int argc, char** argv) {
+int main(int argc, char** argv) try {
     API generic = API::get<GenericService>();
     Model m("viam", "generic", "printer");
 
@@ -96,4 +97,7 @@ int main(int argc, char** argv) {
     my_mod->serve();
 
     return EXIT_SUCCESS;
-};
+} catch (const viam::sdk::Exception& ex) {
+    std::cerr << "main failed with exception: " << ex.what() << "\n";
+    return EXIT_FAILURE;
+}
diff --git a/src/viam/examples/project/pkg-config/Makefile b/src/viam/examples/project/pkg-config/Makefile
@@ -7,21 +7,22 @@ CXX_STANDARD ?= c++17
 
 CXXFLAGS += -std=$(CXX_STANDARD)
 CXXFLAGS += `pkg-config --cflags viam-cpp-sdk-libviamsdk`
-LDFLAGS += `pkg-config --libs viam-cpp-sdk-libviamsdk`
+LDLIBS += `pkg-config --libs-only-l viam-cpp-sdk-libviamsdk`
+LDFLAGS += `pkg-config --libs-only-L --libs-only-other viam-cpp-sdk-libviamsdk`
 
 all: example_dial example_module
 
 example_dial.o: ../../dial/example_dial.cpp
 	$(CXX) $(CXXFLAGS) -c -o $@ $^
 
 example_dial: example_dial.o
-	$(CXX) $(CXXFLAGS) $(LDFLAGS) -o $@ $^
+	$(CXX) $(CXXFLAGS)  -o $@ $^ $(LDFLAGS) $(LDLIBS)
 
 example_module.o: ../../modules/simple/main.cpp
 	$(CXX) $(CXXFLAGS) -c -o $@ $^
 
 example_module: example_module.o
-	$(CXX) $(CXXFLAGS) $(LDFLAGS) -o $@ $^
+	$(CXX) $(CXXFLAGS) -o $@ $^ $(LDFLAGS) $(LDLIBS)
 
 clean:
 	rm -f *.o example_dial example_module
diff --git a/src/viam/sdk/config/viam-cpp-sdk-libviamsdk.pc.in b/src/viam/sdk/config/viam-cpp-sdk-libviamsdk.pc.in
@@ -6,7 +6,7 @@ Name: @PROJECT_NAME@-libviamsdk
 Description: @PROJECT_DESCRIPTION@
 URL: @PROJECT_HOMEPAGE_URL@
 Version: @PROJECT_VERSION@
-Requires: gRPC++ >= @VIAMCPPSDK_GRPCXX_VERSION@ protobuf >= @VIAMCPPSDK_PROTOBUF_VERSION@ @PROJECT_NAME@-libviamapi >= @PROJECT_VERSION@
+Requires: grpc++ >= @VIAMCPPSDK_GRPCXX_VERSION@ protobuf >= @VIAMCPPSDK_PROTOBUF_VERSION@ @PROJECT_NAME@-libviamapi >= @PROJECT_VERSION@
 Libs: -L${libdir} -L@Boost_LIBRARY_DIRS@ -lviamsdk -lviam_rust_utils
 Libs.private: -lboost_log-mt
 Cflags: -I${includedir} -I@Boost_INCLUDE_DIR@
diff --git a/src/viam/sdk/module/service.cpp b/src/viam/sdk/module/service.cpp
@@ -216,7 +216,7 @@ ModuleService::ModuleService(int argc,
                              char** argv,
                              const std::vector<std::shared_ptr<ModelRegistration>>& registrations) {
     if (argc < 2) {
-        throw Exception("Need socket path as command line argument");
+        throw Exception(ErrorCondition::k_connection, "Need socket path as command line argument");
     }
     module_ = std::make_unique<Module>(argv[1]);
     server_ = std::make_unique<Server>();