Merge branch 'main' of github.com:/viamrobotics/rplidar into v0.1.16-…

…release

.github/workflows/appimage-comment.yml

@@ -0,0 +1,35 @@
+name: 'Comment on PR'
+
+on:
+  workflow_run:
+    workflows: ["Pull Request Update"]
+    types:
+      - completed
+
+jobs:
+  comment:
+    name: 'Post Comment on PR'
+    runs-on: ubuntu-latest
+    if: ${{ github.event.workflow_run.event == 'pull_request_target' && github.event.workflow_run.conclusion == 'success' }}
+    steps:
+      - name: Download PR Variables
+        uses: dawidd6/action-download-artifact@v2
+        with:
+          run_id: ${{ github.event.workflow_run.id }}
+          name: pr-variables
+
+      - name: Restore Environment
+        run: cat pr.env >> "${GITHUB_ENV}"
+
+      - name: Add AppImage Links
+        if: ${{ env.APPIMAGE }}
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          header: AppImage
+          number: ${{ env.PR_NUMBER }}
+          recreate: true
+          message: |
+            AppImages ready!
+            <https://storage.googleapis.com/packages.viam.com/apps/rplidar/rplidar-module-pr-${{ env.PR_NUMBER }}-aarch64.AppImage>
+            <https://storage.googleapis.com/packages.viam.com/apps/rplidar/rplidar-module-pr-${{ env.PR_NUMBER }}-x86_64.AppImage>
+

.github/workflows/appimage.yml

@@ -32,15 +32,23 @@ jobs:
     container:
       image: ${{ matrix.image }}
       options: --platform ${{ matrix.platform }}
-    timeout-minutes: 15
+    timeout-minutes: 30
     outputs:
       date: ${{ steps.build_date.outputs.date }}
 
     steps:
       - name: Check out code
+        if: inputs.release_type != 'pr'
         uses: actions/checkout@v3
         with:
           fetch-depth: 2
+
+      - name: Check out PR branch code
+        if: inputs.release_type == 'pr'
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: 2
 
       - name: Clean and Fix Permissions
         run: |
@@ -51,17 +59,25 @@ jobs:
         uses: google-github-actions/auth@v1
         with:
           credentials_json: '${{ secrets.GCP_CREDENTIALS }}'
-
+
+      - name: Make Setup
+        run: |
+          chown testbot:testbot -R .
+          sudo -Hu testbot bash -lc 'make setup'
+
+      - name: Build and Package (PR)
+        if: inputs.release_type == 'pr'
+        run: |
+          sudo -u testbot bash -lc 'make BUILD_CHANNEL="pr-${{ github.event.pull_request.number }}" appimage'  
+    
       - name: Build and Package (Latest)
         if: inputs.release_type == 'latest'
         run: |
-          apt-get -y install swig 
           sudo -Hu testbot bash -lc 'make BUILD_CHANNEL="latest" appimage'
 
       - name: Build and Package (Tagged)
         if: inputs.release_type == 'stable' || inputs.release_type == 'rc'
         run: |
-          apt-get -y install swig 
           sudo -Hu testbot bash -lc 'make RELEASE_TYPE="${{ inputs.release_type }}" BUILD_CHANNEL="${{ github.ref_name }}" appimage'
 
       - name: Deploy Files

.github/workflows/deploy_module.yml

@@ -29,7 +29,7 @@ jobs:
     container:
       image: ${{ matrix.image }}
       options: --platform linux/${{ matrix.platform }}
-    timeout-minutes: 15
+    timeout-minutes: 30
     outputs:
       date: ${{ steps.build_date.outputs.date }}
 
@@ -73,7 +73,7 @@ jobs:
     - id: stripped-version
       run: echo version=${VERSION#v} >> $GITHUB_OUTPUT
     - uses: viamrobotics/upload-module@main
-      if: github.event_name == 'release'
+      if: github.event_name == 'release' && !contains(github.ref_name, 'rc')
       with:
         platform: linux/${{ matrix.platform }}
         version: ${{ steps.stripped-version.outputs.version }}

.github/workflows/pr-labeler.yml

@@ -0,0 +1,41 @@
+name: PR Test Label Manager
+
+on:
+  pull_request_target:
+    branches: [ 'main' ]
+    types: [ opened, synchronize, reopened ]
+
+jobs:
+  pr_test_label_manager:
+    name: PR Test Label Manager
+    runs-on: ubuntu-latest
+    if: |
+      github.event_name == 'pull_request_target' &&
+      contains(fromJson('["opened", "synchronize", "reopened"]'), github.event.action)
+    steps:
+      - name: "Check Membership and Label PR"
+        uses: actions/github-script@v6
+        id: check-membership
+        with:
+          github-token: ${{ secrets.PR_TOKEN }}
+          script: |
+            let prNumber = context.payload.pull_request && context.payload.pull_request.number;
+            try {
+              await github.rest.issues.removeLabel({owner: "viamrobotics", repo: "rplidar", issue_number: prNumber, name: "safe to test"});
+            } catch (err) {
+              core.info(`Non-fatal error ${err}, while trying to remove 'safe to test' label.`);
+            }
+            let orgResp = await github.rest.orgs.checkMembershipForUser({org: "viamrobotics", username: context.payload.sender.login});
+            if (orgResp.status === 204) {
+              // order of labeling events must be preserved, so two seperate calls
+              await github.rest.issues.addLabels({owner: "viamrobotics", repo: "rplidar", issue_number: prNumber, labels: ["safe to test"]});
+              return true;
+            }
+            return false;
+
+      - name: Add Unsafe PR Comment
+        if: steps.check-membership.outputs.result != 'true'
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          recreate: true
+          message: For security reasons, this PR must be labeled with `safe to test` in order for tests to run.

.github/workflows/pullrequest-trusted.yml

@@ -0,0 +1,45 @@
+
+name: Pull Request Update
+
+concurrency: 
+  group: pullrequest-${{ github.head_ref }}
+  cancel-in-progress: true
+
+on:
+  pull_request_target:
+    branches: [ 'main' ]
+    types: [ 'labeled' ]
+
+# To test workflow updates you need to work in a branch directly on viamrobotics/rplidar
+# and tag your working branch instead of @main in any viamrobotics/rplidar "uses" below.
+# Don't forget to tag back to @main before merge.
+
+jobs:
+  test:
+    if: github.event.label.name == 'safe to test' || 
+      contains(github.event.pull_request.labels.*.name, 'appimage') || 
+      contains(github.event.pull_request.labels.*.name, 'appimage-ignore-tests')
+    uses: viamrobotics/rplidar/.github/workflows/test.yml@main
+
+  # This lets people add an "appimage" tag to have appimages built for the PR
+  appimage:
+    needs: [test]
+    if: |
+      always() && !cancelled() && contains(github.event.pull_request.labels.*.name, 'safe to test') &&
+      !contains(github.event.pull_request.labels.*.name, 'appimage-ignore-tests') &&
+      contains(github.event.pull_request.labels.*.name, 'appimage') && needs.test.result == 'success'
+    uses: viamrobotics/rplidar/.github/workflows/appimage.yml@main
+    with:
+      release_type: 'pr'
+    secrets:
+      GCP_CREDENTIALS: ${{ secrets.GCP_CREDENTIALS }}
+
+  appimage-ignore-tests:
+    if: |
+       always() && !cancelled() && contains(github.event.pull_request.labels.*.name, 'safe to test') &&
+       contains(github.event.pull_request.labels.*.name, 'appimage-ignore-tests')
+    uses: viamrobotics/rplidar/.github/workflows/appimage.yml@main
+    with:
+      release_type: 'pr'
+    secrets:
+      GCP_CREDENTIALS: ${{ secrets.GCP_CREDENTIALS }}

.github/workflows/pullrequestclose.yml

@@ -0,0 +1,28 @@
+name: Pull Request Close
+
+concurrency: 
+  group: pullrequest-${{ github.head_ref }}
+  cancel-in-progress: true
+
+on:
+  pull_request_target:
+    branches: [ 'main' ]
+    types: [ 'closed' ]
+
+jobs:
+  appimage_clean:
+    name: Remove PR AppImages
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Authorize GCP
+      uses: google-github-actions/auth@v1
+      with:
+        credentials_json: '${{ secrets.GCP_CREDENTIALS }}'
+
+    - name: Set up Cloud SDK
+      uses: google-github-actions/setup-gcloud@v1
+
+    - name: Delete Files
+      run: |
+        gsutil rm "gs://packages.viam.com/apps/rplidar-module/rplidar-module-pr-${{ github.event.pull_request.number }}-*" || true

.github/workflows/test.yml

@@ -0,0 +1,83 @@
+name: Test
+
+on:
+  workflow_dispatch:
+  workflow_call:
+
+jobs:
+  build_and_test:
+    name: Build and Test RPLiDAR
+    strategy:
+      matrix:
+        include:
+          - arch: buildjet-8vcpu-ubuntu-2204
+            image: ghcr.io/viamrobotics/canon:amd64-cache
+            platform: linux/amd64
+          - arch: buildjet-8vcpu-ubuntu-2204-arm
+            image: ghcr.io/viamrobotics/canon:arm64-cache
+            platform: linux/arm64
+    runs-on: ${{ matrix.arch }}
+    container:
+      image: ${{ matrix.image }}
+      options: --platform ${{ matrix.platform }}
+    timeout-minutes: 45
+    steps:
+    # Can't directly comment without token having full read/write access
+    # appimage-comment.yml will trigger separately and post the actual comments
+
+    - name: Set PR Number variable
+      run: |
+        echo "PR_NUMBER=${{ github.event.pull_request.number }}" >> pr.env
+
+    - name: Set appimage variable
+      if: contains(github.event.pull_request.labels.*.name, 'appimage') || contains(github.event.pull_request.labels.*.name, 'appimage-ignore-tests')
+      run: |
+        echo "APPIMAGE=true" >> pr.env
+
+    - name: Upload PR variables
+      uses: actions/upload-artifact@v3
+      with:
+        name: pr-variables
+        path: |
+         pr.env
+        retention-days: 1
+
+    - name: Check out main branch code
+      if: github.event_name != 'pull_request_target'
+      uses: actions/checkout@v3
+      with:
+        fetch-depth: 2
+
+    - name: Check out PR branch code
+      if: github.event_name == 'pull_request_target'
+      uses: actions/checkout@v3
+      with:
+        ref: ${{ github.event.pull_request.head.sha }}
+        fetch-depth: 2
+
+    - name: Clean and Fix Permissions
+      run: |
+        chown testbot:testbot -R .
+        sudo -Hu testbot bash -lc 'make clean'
+
+    - name: make setup
+      run: |
+        sudo -u testbot bash -lc 'make setup'
+
+    - name: make test
+      run: |
+        sudo -u testbot bash -lc 'make test'
+
+    - name: Verify no uncommitted changes from make lint
+      run: |
+        git init
+        git add .
+        chown -R testbot:testbot .
+        sudo -u testbot bash -lc 'sudo apt-get install -y clang-format && make lint'
+        GEN_DIFF=$(git status -s --ignore-submodules)
+
+        if [ -n "$GEN_DIFF" ]; then
+            echo '"make lint" resulted in changes not in git' 1>&2
+            git status
+            exit 1
+        fi

Makefile

@@ -5,17 +5,31 @@ GIT_REVISION = $(shell git rev-parse HEAD | tr -d '\n')
 TAG_VERSION?=$(shell git tag --points-at | sort -Vr | head -n1)
 CGO_LDFLAGS="-L 'gen/third_party/rplidar_sdk-release-${VERSION}/sdk/output/${OS}/Release/'"
 GO_BUILD_LDFLAGS = -ldflags "-X 'main.Version=${TAG_VERSION}' -X 'main.GitRevision=${GIT_REVISION}'"
+GOPATH = $(HOME)/go/bin
+export PATH := ${GOPATH}:$(PATH) 
+SHELL := /usr/bin/env bash 
+
+default: setup build-module
+
+setup: install-dependencies
+
+install-dependencies:
+ifneq (, $(shell which brew))
+	brew update
+	brew install make swig pkg-config jpeg
+else ifneq (, $(shell which apt-get))
+	$(warning  "Installing rplidar external dependencies via APT.")
+	sudo apt-get update
+	sudo apt install -y make swig libjpeg-dev pkg-config
+else
+	$(error "Unsupported system. Only apt and brew currently supported.")
+endif
 
-.PHONY: default
-default: build-module
-
-.PHONY: goformat
 goformat:
 	go install golang.org/x/tools/cmd/goimports
 	gofmt -s -w .
 	goimports -w -local=go.viam.com/utils `go list -f '{{.Dir}}' ./... | grep -Ev "proto"`
 
-.PHONY: lint
 lint: goformat
 	go install github.com/edaniels/golinters/cmd/combined
 	go install github.com/golangci/golangci-lint/cmd/golangci-lint
@@ -24,27 +38,24 @@ lint: goformat
 	go list -f '{{.Dir}}' ./... | grep -v gen | xargs `go env GOPATH`/bin/go-errorlint -errorf
 	go list -f '{{.Dir}}' ./... | grep -v gen | xargs go run github.com/golangci/golangci-lint/cmd/golangci-lint run -v --config=./etc/.golangci.yaml
 
-.PHONY: test
-test:
-	go test -v -coverprofile=coverage.txt -covermode=atomic ./...
-
-.PHONY: sdk
 sdk:
 	cd gen/third_party/rplidar_sdk-release-${VERSION}/sdk && $(MAKE)
 
-.PHONY: clean-sdk
 clean-sdk:
 	cd gen/third_party/rplidar_sdk-release-${VERSION}/sdk && $(MAKE) clean_sdk
 
-.PHONY: swig
 swig: sdk
 	cd gen && swig -v -go -cgo -c++ -intgosize 64 gen.i
 
-.PHONY: build-module
 build-module: swig
 	mkdir -p bin && CGO_LDFLAGS=${CGO_LDFLAGS} go build $(GO_BUILD_LDFLAGS) -o bin/rplidar-module module/main.go
 
-.PHONY: clean
+install:
+	sudo cp bin/rplidar-module /usr/local/bin/rplidar-module
+
+test: swig
+	CGO_LDFLAGS=${CGO_LDFLAGS} go test -v -coverprofile=coverage.txt -covermode=atomic ./... -race
+
 clean: clean-sdk
 	rm -rf bin gen/gen_wrap.cxx gen/gen.go