RSDK-10366 - rust utils for windows (#416)

Author: stuqdog

.github/workflows/conan.yml

@@ -40,6 +40,8 @@ jobs:
           github.event_name == 'schedule' &&
           steps.git_info.outputs.current_commit == steps.last_successful_commit.outputs.commit-hash
 
+  # TODO (RSDK-10666) add windows build testing
+
   build_macos:
     if: github.repository_owner == 'viamrobotics'
     needs: [prepare]

.github/workflows/release.yml

@@ -36,6 +36,53 @@ jobs:
         uses: andymckay/[email protected]
         if: steps.release_exists.outputs.id != ''
 
+  build_windows:
+    if: github.repository_owner == 'viamrobotics'
+    needs: [prepare]
+    runs-on: windows-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - target: x86_64-windows
+            platform: windows_x86_64
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ needs.prepare.outputs.sha }}
+
+      - name: Install dependencies
+        run: choco install -y conan git
+
+      - name: Create package
+        shell: powershell
+        # TODO (RSDK-10666) Use conan invocations rather than cmake invocations here
+        run: |
+          Import-Module $env:ChocolateyInstall\helpers\chocolateyProfile.psm1
+          refreshenv
+          conan profile detect
+          conan install . --output-folder=build-conan --build=missing -o "&:shared=False"
+          cmake . --preset conan-default
+          cmake --build --preset=conan-release --target ALL_BUILD install -j 8
+        env:
+          CONAN_USER_HOME: c:/cache
+          CONAN_USER_HOME_SHORT: c:/cache/conan_shortpaths
+
+      - name: Copy
+        run: |
+          cmake --install build-conan/build --prefix builds/viam-cpp-sdk-${{ matrix.platform }}
+
+      - name: Create tar
+        run: |
+          tar -czvf builds/viam-cpp-sdk-${{ matrix.platform }}.tar.gz builds/viam-cpp-sdk-${{ matrix.platform }}
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: viam-cpp-sdk-${{ matrix.platform }}.tar.gz
+          path: builds/viam-cpp-sdk-${{ matrix.platform }}.tar.gz
+
   build_macos:
     if: github.repository_owner == 'viamrobotics'
     needs: [prepare]

.gitignore

@@ -5,7 +5,9 @@
 /build/*
 
 # For now, ignore any viam_rust_utils library in the root.
+# The `lib` prefix is on unix-based systems only
 /libviam_rust_utils*
+/viam_rust_utils*
 
 # Ignore clang cache.
 /.cache/

BUILDING.md

@@ -260,6 +260,23 @@ have a different version of `protoc` available in your `PATH`, it will
 silently fail and later cause compilation failures due to protobuf
 version mismatches.
 
+## Building for ARM Windows
+
+The C++ SDK works well on windows for both client and module code 
+provided there is internet connectivity. However, some manual work is
+required to build for client code on ARM64 architecture.
+
+1. (client code only) clone [rust-utils](https://github.com/viamrobotics/rust-utils) >= v0.3.0 and
+build locally with `cargo build --release`. Copy `target\release\viam_rust_utils.lib`
+to the root of the C++ SDK directory.
+2. Ensure `conan` is installed (see `Building with Conan` above).
+3. Run the following:
+```
+conan profile detect
+cmake . --preset conan-default <cmake args>
+cmake --build --preset=conan-release -j
+```
+
 ## Options to Configure or Customize the Build
 
 ### Options for Package Search

CMakeLists.txt

@@ -266,14 +266,20 @@ if (viam_rust_utils_files)
     ${viam_rust_utils_file}
     ONLY_IF_DIFFERENT
   )
-elseif(NOT WIN32) # TODO(RSDK-10366): Currently, rust_utils is not published for windows, so don't even try downloading
+elseif(NOT WIN32 OR ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64")
   set(lvru_system_name ${CMAKE_SYSTEM_NAME})
   if (CMAKE_SYSTEM_NAME STREQUAL "Darwin")
     set(lvru_system_name "macosx")
   endif()
+
+  set(lvru_system_processor ${CMAKE_SYSTEM_PROCESSOR})
+  if(WIN32)
+    set(lvru_system_processor "x86_64")
+  endif()
+
   file(
     DOWNLOAD
-    https://github.com/viamrobotics/rust-utils/releases/latest/download/${CMAKE_SHARED_LIBRARY_PREFIX}viam_rust_utils-${lvru_system_name}_${CMAKE_SYSTEM_PROCESSOR}${CMAKE_STATIC_LIBRARY_SUFFIX}
+    https://github.com/viamrobotics/rust-utils/releases/latest/download/${CMAKE_SHARED_LIBRARY_PREFIX}viam_rust_utils-${lvru_system_name}_${lvru_system_processor}${CMAKE_STATIC_LIBRARY_SUFFIX}
     ${viam_rust_utils_file}
     STATUS lvru_status
   )
@@ -283,24 +289,21 @@ elseif(NOT WIN32) # TODO(RSDK-10366): Currently, rust_utils is not published for
   if(NOT lvru_status_code EQUAL 0)
     message(FATAL_ERROR "No local viam_rust_utils found and failed to download: ${lvru_status_string}")
   endif()
-
+else()
+    message(WARNING "Currently running on Windows with no rust-utils file. Module code should work as expected, but client code may fail unexpectedly.")
 endif()
 
-# TODO(RSDK-10366): Currently, rust_utils is not published for windows, so don't even declare the library
-if (NOT WIN32)
-  add_library(viam_rust_utils SHARED IMPORTED)
-
+if (NOT WIN32 OR ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64")
+  add_library(viam_rust_utils STATIC IMPORTED)
   target_link_directories(viam_rust_utils
     INTERFACE
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>"
     "$<INSTALL_INTERFACE:${CMAKE_INSTALL_LIBDIR}>"
   )
-
   set_property(TARGET viam_rust_utils PROPERTY IMPORTED_LOCATION ${viam_rust_utils_file})
 
   install(
-    IMPORTED_RUNTIME_ARTIFACTS viam_rust_utils
-    LIBRARY COMPONENT viam-cpp-sdk_runtime
+    FILES ${viam_rust_utils_file} DESTINATION ${CMAKE_INSTALL_LIBDIR} COMPONENT viam-cpp-sdk_runtime
   )
 endif()
 

conanfile.py

@@ -91,10 +91,7 @@ def package(self):
 
     def package_info(self):
 
-        # TODO(RSDK-10366): Currently, rust_utils is not published for windows
-        # and the C++ SDK just doesn't include it as a dependency on that platform
-        if not self.settings.os == "Windows":
-            self.cpp_info.components["viam_rust_utils"].libs = ["viam_rust_utils"]
+        self.cpp_info.components["viam_rust_utils"].libs = ["viam_rust_utils"]
 
         self.cpp_info.components["viamsdk"].libs = ["viamsdk"]
 
@@ -137,11 +134,8 @@ def package_info(self):
             "viamapi",
         ])
 
-        # TODO(RSDK-10366): Currently, rust_utils is not published for windows
-        # and the C++ SDK just doesn't include it as a dependency on that platform
-        if self.settings.os != "Windows":
-            self.cpp_info.components["viamsdk"].requires.extend([
-                "viam_rust_utils"
-            ])
+        self.cpp_info.components["viamsdk"].requires.extend([
+            "viam_rust_utils"
+        ])
 
         self.cpp_info.components["viamsdk"].frameworks = ["Security"]

src/viam/examples/README.md

@@ -56,7 +56,7 @@ char *path = dial("<your robot uri here>", "<your authentication type>", "<your
 Then to obtain a robot client do :
 
 ``` c++
-std::string address("unix://");
+std::string address("unix:");
 address += path;
 RobotServiceClient client(grpc::CreateChannel(address, grpc::InsecureChannelCredentials()));
 ```

src/viam/examples/mlmodel/example_audio_classification_client.cpp

@@ -377,7 +377,7 @@ int main(int argc, char* argv[]) try {
             });
 
             // Print out the top 5 (or fewer) label/score pairs.
-            for (size_t i = 0; i != std::min(5UL, scored_labels.size()); ++i) {
+            for (size_t i = 0; i != std::min(size_t{5}, scored_labels.size()); ++i) {
                 // TODO: Avoid hardcoding the width here.
                 VIAM_SDK_LOG(info) << boost::format("%1%: %2% %|40t|%3%\n") % i %
                                           *scored_labels[i].label % scored_labels[i].score;

src/viam/examples/modules/complex/gizmo/api.hpp

@@ -30,12 +30,14 @@ class Gizmo : public Component {
     explicit Gizmo(std::string name);
 };
 
-namespace viam::sdk {
+namespace viam {
+namespace sdk {
 template <>
 struct API::traits<Gizmo> {
     static ::viam::sdk::API api();
 };
-}  // namespace viam::sdk
+}  // namespace sdk
+}  // namespace viam
 
 // `GizmoClient` is the gRPC client implementation of a `Gizmo` component.
 class GizmoClient : public Gizmo {

src/viam/examples/modules/complex/summation/api.hpp

@@ -29,12 +29,14 @@ class Summation : public Service {
     explicit Summation(std::string name);
 };
 
-namespace viam::sdk {
+namespace viam {
+namespace sdk {
 template <>
 struct API::traits<Summation> {
     static API api();
 };
-}  // namespace viam::sdk
+}  // namespace sdk
+}  // namespace viam
 
 // `SummationClient` is the gRPC client implementation of a `Summation`
 // service.

src/viam/sdk/CMakeLists.txt

@@ -276,22 +276,30 @@ target_link_libraries(viamsdk
   PRIVATE Threads::Threads
 )
 
-# TODO(RSDK-10366): Currently, rust_utils is not published for
-# windows, so don't link to it.  Instead, link a stub implementation
-# that just calls `abort`.
-if (NOT WIN32)
+# if the `viam_rust_utils` target exists then we should use it. If not then
+# we're probably on a non-x86_64 windows build or some other platform without
+# automated `rust-utils` builds, so we should use the stubs instead.
+if (TARGET viam_rust_utils)
   target_link_libraries(viamsdk
     PRIVATE viam_rust_utils
   )
 else()
   target_sources(viamsdk PRIVATE rpc/private/viam_rust_utils_stubs.cpp)
 endif()
 
+
+# TODO several of these dependencies should properly be attached to `viam_rust_utils`,
+# not `viamsdk`. However, we currently are unable to do so while maintaining compilation
 if (APPLE)
   target_link_libraries(viamsdk PUBLIC "-framework Security")
-else()
+elseif (NOT WIN32)
   target_link_libraries(viamsdk PRIVATE dl)
   target_link_libraries(viamsdk PRIVATE rt)
+else()
+  target_link_libraries(viamsdk INTERFACE Ncrypt.lib)
+  target_link_libraries(viamsdk INTERFACE Secur32.lib)
+  target_link_libraries(viamsdk INTERFACE Ntdll.lib)
+  target_link_libraries(viamsdk INTERFACE Userenv.lib)
 endif()
 
 

src/viam/sdk/robot/client.cpp

@@ -294,7 +294,7 @@ std::shared_ptr<RobotClient> RobotClient::at_address(const std::string& address,
 
 std::shared_ptr<RobotClient> RobotClient::at_local_socket(const std::string& address,
                                                           const Options& options) {
-    const std::string addr = "unix://" + address;
+    const std::string addr = "unix:" + address;
     auto robot = RobotClient::with_channel(
         ViamChannel(sdk::impl::create_viam_channel(addr, grpc::InsecureChannelCredentials())),
         options);

src/viam/sdk/robot/client.hpp

@@ -97,7 +97,7 @@ class RobotClient {
     /// @brief Creates a robot client connected to the robot at the provided local socket.
     /// @param address The local socket of the robot (a .sock file, etc.).
     /// @param options Options for connecting and refreshing.
-    /// Creates a direct connection to the robot using the `unix://` scheme.
+    /// Creates a direct connection to the robot using the `unix:` scheme.
     /// Only useful for connecting to robots across Unix sockets.
     static std::shared_ptr<RobotClient> at_local_socket(const std::string& address,
                                                         const Options& options);

src/viam/sdk/rpc/dial.cpp

@@ -1,5 +1,6 @@
 #include <viam/sdk/rpc/dial.hpp>
 
+#include <algorithm>
 #include <istream>
 #include <string>
 
@@ -171,18 +172,23 @@ ViamChannel ViamChannel::dial(const char* uri, const boost::optional<DialOptions
     if (opts.entity()) {
         entity = opts.entity()->c_str();
     }
-    char* socket_path = ::dial(
+    char* proxy_path = ::dial(
         uri, entity, type, payload, opts.allows_insecure_downgrade(), float_timeout.count(), ptr);
-    if (socket_path == NULL) {
+    if (!proxy_path) {
         free_rust_runtime(ptr);
         throw Exception(ErrorCondition::k_connection, "Unable to establish connecting path");
     }
 
-    std::string address("unix://");
-    address += socket_path;
+    const std::string localhost_prefix("127.0.0.1");
+    std::string address;
+    if (std::string(proxy_path).find(localhost_prefix) == std::string::npos) {
+        // proxy path is not a localhost address and is therefore a unix domain socket (UDS)
+        address += "unix:";
+    }
+    address += proxy_path;
 
     return ViamChannel(sdk::impl::create_viam_channel(address, grpc::InsecureChannelCredentials()),
-                       socket_path,
+                       proxy_path,
                        ptr);
 }
 

src/viam/sdk/rpc/server.hpp

@@ -3,6 +3,8 @@
 /// @brief Defines the `Server` class.
 #pragma once
 
+#include <chrono>
+
 #include <viam/sdk/common/grpc_fwd.hpp>
 #include <viam/sdk/resource/resource.hpp>
 #include <viam/sdk/resource/resource_api.hpp>

src/viam/sdk/tests/mocks/mock_robot.cpp

@@ -299,7 +299,8 @@ ::grpc::Status MockRobotService::FrameSystemConfig(
     const ::viam::robot::v1::FrameSystemConfigRequest*,
     ::viam::robot::v1::FrameSystemConfigResponse* response) {
     auto client_md = context->client_metadata();
-    if (auto client_info = client_md.find("viam_client"); client_info == client_md.end()) {
+    auto client_info = client_md.find("viam_client");
+    if (client_info == client_md.end()) {
         return ::grpc::Status(::grpc::StatusCode::FAILED_PRECONDITION,
                               "viam_client info not properly set in metadata");
     }
@@ -314,7 +315,8 @@ ::grpc::Status MockRobotService::TransformPose(::grpc::ServerContext* context,
                                                const ::viam::robot::v1::TransformPoseRequest*,
                                                ::viam::robot::v1::TransformPoseResponse* response) {
     auto client_md = context->client_metadata();
-    if (auto client_info = client_md.find("viam_client"); client_info == client_md.end()) {
+    auto client_info = client_md.find("viam_client");
+    if (client_info == client_md.end()) {
         return ::grpc::Status(::grpc::StatusCode::FAILED_PRECONDITION,
                               "viam_client info not properly set in metadata");
     }
@@ -327,7 +329,8 @@ ::grpc::Status MockRobotService::GetMachineStatus(
     const ::viam::robot::v1::GetMachineStatusRequest*,
     ::viam::robot::v1::GetMachineStatusResponse* response) {
     auto client_md = context->client_metadata();
-    if (auto client_info = client_md.find("viam_client"); client_info == client_md.end()) {
+    auto client_info = client_md.find("viam_client");
+    if (client_info == client_md.end()) {
         return ::grpc::Status(::grpc::StatusCode::FAILED_PRECONDITION,
                               "viam_client info not properly set in metadata");
     }
@@ -341,7 +344,8 @@ ::grpc::Status MockRobotService::GetOperations(::grpc::ServerContext* context,
                                                const ::viam::robot::v1::GetOperationsRequest*,
                                                ::viam::robot::v1::GetOperationsResponse* response) {
     auto client_md = context->client_metadata();
-    if (auto client_info = client_md.find("viam_client"); client_info == client_md.end()) {
+    auto client_info = client_md.find("viam_client");
+    if (client_info == client_md.end()) {
         return ::grpc::Status(::grpc::StatusCode::FAILED_PRECONDITION,
                               "viam_client info not properly set in metadata");
     }