Update devcontainers for building debians

.devcontainer/Dockerfile.amd64

@@ -1,27 +1,33 @@
 FROM ubuntu:22.04
 
-RUN apt-get update --fix-missing &&\
-    apt-get install -y --no-install-recommends build-essential ca-certificates git g++ pkg-config python3 curl ninja-build tar zip unzip zlib1g-dev libssl-dev wget &&\
-    apt-get autoclean &&\
-    apt-get autoremove &&\
-    apt-get clean &&\
-    rm -rf /var/lib/apt/lists/*
+RUN apt-get update --fix-missing \
+    && apt-get install -y --no-install-recommends \
+	build-essential \
+	ca-certificates \
+	cmake \
+	git \
+	libcli11-dev \
+	libeigen3-dev \
+	libgrpc++-dev \
+	libprotobuf-dev \
+	g++ \
+	pkg-config \
+	protobuf-compiler \
+	protobuf-compiler-grpc \	
+	python3 \
+	curl \
+	ninja-build \
+	tar \
+	zip \
+	unzip \
+	zlib1g-dev \
+	libssl-dev \
+	wget \
+    && apt-get autoclean \
+    && apt-get autoremove \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
 
 RUN update-ca-certificates
 
-RUN wget https://github.com/Kitware/CMake/releases/download/v3.28.3/cmake-3.28.3.tar.gz &&\
-    tar -xzf cmake-3.28.3.tar.gz &&\
-    cd cmake-3.28.3 &&\
-    ./configure &&\
-    make install &&\
-    cd .. &&\
-    rm cmake-3.28.3.tar.gz &&\
-    rm -r cmake-3.28.3
-
-RUN git clone https://github.com/microsoft/vcpkg &&\
-    cd vcpkg &&\
-    git checkout 3b213864579b6fa686e38715508f7cd41a50900f &&\
-    ./bootstrap-vcpkg.sh -disableMetrics &&\
-    ./vcpkg install grpc:x64-linux &&\
-    ./vcpkg install eigen3:x64-linux &&\
-    ./vcpkg install cli11:x64-linux
+COPY entrypoint.sh .

.devcontainer/Dockerfile.amd64_vcpkg

@@ -0,0 +1,27 @@
+FROM ubuntu:22.04
+
+RUN apt-get update --fix-missing &&\
+    apt-get install -y --no-install-recommends build-essential ca-certificates git g++ pkg-config python3 curl ninja-build tar zip unzip zlib1g-dev libssl-dev wget &&\
+    apt-get autoclean &&\
+    apt-get autoremove &&\
+    apt-get clean &&\
+    rm -rf /var/lib/apt/lists/*
+
+RUN update-ca-certificates
+
+RUN wget https://github.com/Kitware/CMake/releases/download/v3.28.3/cmake-3.28.3.tar.gz &&\
+    tar -xzf cmake-3.28.3.tar.gz &&\
+    cd cmake-3.28.3 &&\
+    ./configure &&\
+    make install &&\
+    cd .. &&\
+    rm cmake-3.28.3.tar.gz &&\
+    rm -r cmake-3.28.3
+
+RUN git clone https://github.com/microsoft/vcpkg &&\
+    cd vcpkg &&\
+    git checkout 3b213864579b6fa686e38715508f7cd41a50900f &&\
+    ./bootstrap-vcpkg.sh -disableMetrics &&\
+    ./vcpkg install grpc:x64-linux &&\
+    ./vcpkg install eigen3:x64-linux &&\
+    ./vcpkg install cli11:x64-linux

.devcontainer/Dockerfile.arm64

@@ -1,29 +1,33 @@
 FROM arm64v8/ubuntu:22.04
-SHELL ["/bin/bash", "-c"]
 
-RUN apt-get update --fix-missing &&\
-    apt-get install -y --no-install-recommends build-essential ca-certificates cmake git g++ pkg-config python3 curl ninja-build tar zip unzip zlib1g-dev libssl-dev wget &&\
-    apt-get autoclean &&\
-    apt-get autoremove &&\
-    apt-get clean &&\
-    rm -rf /var/lib/apt/lists/*
+RUN apt-get update --fix-missing \
+    && apt-get install -y --no-install-recommends \
+	build-essential \
+	ca-certificates \
+	cmake \
+	git \
+	libcli11-dev \
+	libeigen3-dev \
+	libgrpc++-dev \
+	libprotobuf-dev \
+	g++ \
+	pkg-config \
+	protobuf-compiler \
+	protobuf-compiler-grpc \	
+	python3 \
+	curl \
+	ninja-build \
+	tar \
+	zip \
+	unzip \
+	zlib1g-dev \
+	libssl-dev \
+	wget \
+    && apt-get autoclean \
+    && apt-get autoremove \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
 
 RUN update-ca-certificates
 
-RUN wget https://github.com/Kitware/CMake/releases/download/v3.28.3/cmake-3.28.3.tar.gz &&\
-    tar -xzf cmake-3.28.3.tar.gz &&\
-    cd cmake-3.28.3 &&\
-    ./configure &&\
-    make install &&\
-    cd .. &&\
-    rm cmake-3.28.3.tar.gz &&\
-    rm -r cmake-3.28.3
-
-RUN git clone https://github.com/microsoft/vcpkg &&\
-    cd vcpkg &&\
-    git checkout 3b213864579b6fa686e38715508f7cd41a50900f &&\
-    export VCPKG_FORCE_SYSTEM_BINARIES=arm &&\
-    ./bootstrap-vcpkg.sh -disableMetrics &&\
-    ./vcpkg install grpc:arm64-linux &&\
-    ./vcpkg install eigen3:arm64-linux &&\
-    ./vcpkg install cli11:arm64-linux
+COPY entrypoint.sh .

.devcontainer/Dockerfile.arm64_vcpkg

@@ -0,0 +1,29 @@
+FROM arm64v8/ubuntu:22.04
+SHELL ["/bin/bash", "-c"]
+
+RUN apt-get update --fix-missing &&\
+    apt-get install -y --no-install-recommends build-essential ca-certificates cmake git g++ pkg-config python3 curl ninja-build tar zip unzip zlib1g-dev libssl-dev wget &&\
+    apt-get autoclean &&\
+    apt-get autoremove &&\
+    apt-get clean &&\
+    rm -rf /var/lib/apt/lists/*
+
+RUN update-ca-certificates
+
+RUN wget https://github.com/Kitware/CMake/releases/download/v3.28.3/cmake-3.28.3.tar.gz &&\
+    tar -xzf cmake-3.28.3.tar.gz &&\
+    cd cmake-3.28.3 &&\
+    ./configure &&\
+    make install &&\
+    cd .. &&\
+    rm cmake-3.28.3.tar.gz &&\
+    rm -r cmake-3.28.3
+
+RUN git clone https://github.com/microsoft/vcpkg &&\
+    cd vcpkg &&\
+    git checkout 3b213864579b6fa686e38715508f7cd41a50900f &&\
+    export VCPKG_FORCE_SYSTEM_BINARIES=arm &&\
+    ./bootstrap-vcpkg.sh -disableMetrics &&\
+    ./vcpkg install grpc:arm64-linux &&\
+    ./vcpkg install eigen3:arm64-linux &&\
+    ./vcpkg install cli11:arm64-linux

.devcontainer/build.sh

@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+ARCH=$(dpkg --print-architecture)
+
+if [ "$ARCH" == "amd64" ]; then
+  docker build -t spot_builder -f Dockerfile.amd64 .
+elif [ "$ARCH" == "arm64" ]; then
+  docker build -t spot_builder -f Dockerfile.arm64 .
+else
+  echo "Unknown architecture: $ARCH" > /dev/stderr
+  exit 1
+fi
+
+docker run -v ~/spot-cpp-sdk:/spot-cpp-sdk spot_builder /entrypoint.sh

.devcontainer/entrypoint.sh

@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+cd /spot-cpp-sdk/cpp
+if [ -d build ]; then
+  rm -r build
+fi
+mkdir build
+cd build
+cmake .. -DCMAKE_FIND_PACKAGE_PREFER_CONFIG=TRUE -DBUILD_CHOREOGRAPHY_LIBS=ON -DBUILD_SHARED_LIBS=ON
+make -j8 install package

cpp/.gitignore

@@ -0,0 +1 @@
+build

cpp/CMakeLists.txt

@@ -7,15 +7,19 @@
 # This file is autogenerated.
 
 cmake_minimum_required (VERSION 3.10.2)
-project (bosdyn VERSION 4.0.3)
+project (bosdyn VERSION 4.1.0)
 
 # Dependencies:
-find_package(protobuf REQUIRED)
+find_package(Protobuf REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(gRPC REQUIRED)
+
+find_package(PkgConfig REQUIRED)
+pkg_check_modules(GRPC REQUIRED grpc)
+pkg_check_modules(GRPCPP REQUIRED grpc++)
+find_program(GRPC_CPP_PLUGIN_LOCATION grpc_cpp_plugin REQUIRED)
 find_package(CLI11 REQUIRED)
 find_package(Threads REQUIRED)
-get_target_property(grpc_cpp_plugin_location gRPC::grpc_cpp_plugin LOCATION)
+
 include_directories(SYSTEM $<TARGET_PROPERTY:CLI11::CLI11,INTERFACE_INCLUDE_DIRECTORIES>)
 
 set(CMAKE_EXPORT_COMPILE_COMMANDS true)
@@ -24,37 +28,35 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS true)
 set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose the type of build." FORCE)
 option(BUILD_SHARED_LIBS "Build using shared libraries" ON)
 option(BUILD_CHOREOGRAPHY_LIBS "Boolean to control whether choreography proto libraries are built" ON)
+option(BUILD_EXAMPLES "Boolean to control whether examples are built" OFF)
 
 IF (NOT UNIX)
     SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Build using shared libraries" FORCE)
 ENDIF (NOT UNIX)
 
 include(GNUInstallDirs)
 
-
 ### API protos LIBRARY ###
-set(API_protos_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build/protos/)
-# Copy protos folders to build folder so they are in a subdirectory from the cpp folder (necessary for the proto cpp files generation).
-file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/../protos/ DESTINATION ${API_protos_PATH})
+get_filename_component(API_protos_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../protos/ ABSOLUTE)
+file(GLOB_RECURSE bosdyn_protos_files CONFIGURE_DEPENDS "${API_protos_PATH}/*.proto")
 set(protos_OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/protos)
 file(MAKE_DIRECTORY ${protos_OUTPUT_DIR})
-file(GLOB_RECURSE bosdyn_protos_files CONFIGURE_DEPENDS
-    RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "${API_protos_PATH}/*.proto")
-
 if (bosdyn_protos_files)
   add_library(bosdyn_api_obj OBJECT ${bosdyn_protos_files})
   set_property(TARGET bosdyn_api_obj PROPERTY POSITION_INDEPENDENT_CODE 1)
-  target_link_libraries(bosdyn_api_obj PUBLIC protobuf::libprotobuf gRPC::grpc gRPC::grpc++)
+  target_link_libraries(bosdyn_api_obj PUBLIC protobuf::libprotobuf ${GRPC_LINK_LIBRARIES} ${GRPCPP_LINK_LIBRARIES})
   target_include_directories(bosdyn_api_obj PUBLIC
+    ${GRPC_INCLUDE_DIRS} ${GRPCPP_INCLUDE_DIRS}
     $<BUILD_INTERFACE:${protos_OUTPUT_DIR}>
     $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
   )
   protobuf_generate(TARGET bosdyn_api_obj LANGUAGE cpp
-  IMPORT_DIRS ${API_protos_PATH}
-  PROTOC_OUT_DIR ${protos_OUTPUT_DIR})
+    IMPORT_DIRS ${API_protos_PATH}
+    PROTOC_OUT_DIR ${protos_OUTPUT_DIR}
+  )
   protobuf_generate(TARGET bosdyn_api_obj
     LANGUAGE grpc GENERATE_EXTENSIONS .grpc.pb.h .grpc.pb.cc
-    PLUGIN "protoc-gen-grpc=${grpc_cpp_plugin_location}"
+    PLUGIN "protoc-gen-grpc=${GRPC_CPP_PLUGIN_LOCATION}"
     IMPORT_DIRS ${API_protos_PATH}
     PROTOC_OUT_DIR ${protos_OUTPUT_DIR}
   )
@@ -93,13 +95,11 @@ endif()
 if (BUILD_CHOREOGRAPHY_LIBS)
 
 ### API choreography_protos LIBRARY ###
-set(API_choreography_protos_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build/choreography_protos/)
-# Copy choreography_protos folders to build folder so they are in a subdirectory from the cpp folder (necessary for the proto cpp files generation).
-file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/../choreography_protos/ DESTINATION ${API_choreography_protos_PATH})
+get_filename_component(API_choreography_protos_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../choreography_protos/ ABSOLUTE)
+file(GLOB_RECURSE bosdyn_choreography_protos_files CONFIGURE_DEPENDS "${API_choreography_protos_PATH}/*.proto")
 set(choreography_protos_OUTPUT_DIR ${CMAKE_CURRENT_BINARY_DIR}/choreography_protos)
 file(MAKE_DIRECTORY ${choreography_protos_OUTPUT_DIR})
-file(GLOB_RECURSE bosdyn_choreography_protos_files CONFIGURE_DEPENDS
-    RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} "${API_choreography_protos_PATH}/*.proto")
+file(GLOB_RECURSE bosdyn_choreography_protos_files CONFIGURE_DEPENDS "${API_choreography_protos_PATH}/*.proto")
 
 if (bosdyn_choreography_protos_files)
   add_library(bosdyn_choreography_protos_obj OBJECT ${bosdyn_choreography_protos_files})
@@ -114,7 +114,7 @@ if (bosdyn_choreography_protos_files)
   PROTOC_OUT_DIR ${choreography_protos_OUTPUT_DIR})
   protobuf_generate(TARGET bosdyn_choreography_protos_obj
     LANGUAGE grpc GENERATE_EXTENSIONS .grpc.pb.h .grpc.pb.cc
-    PLUGIN "protoc-gen-grpc=${grpc_cpp_plugin_location}"
+    PLUGIN "protoc-gen-grpc=${GRPC_CPP_PLUGIN_LOCATION}"
     IMPORT_DIRS ${API_choreography_protos_PATH}
     PROTOC_OUT_DIR ${choreography_protos_OUTPUT_DIR}
   )
@@ -193,7 +193,11 @@ install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/bosdyn
 )
 
 
+include(CMakePackageConfigHelpers)
+
 ### EXAMPLE EXECUTABLES ###
+if(BUILD_EXAMPLES)
+
 link_directories(
   ${PROTOBUF_LIB_DIR}
 )
@@ -210,6 +214,7 @@ target_compile_features(arm_manipulation_api_walk_to PUBLIC cxx_std_17)
 target_include_directories(arm_manipulation_api_walk_to PUBLIC
   ${CMAKE_CURRENT_SOURCE_DIR}
   ${PROTOBUF_INCLUDE_DIR}
+  $<TARGET_PROPERTY:CLI11::CLI11,INTERFACE_INCLUDE_DIRECTORIES>
 )
 target_link_libraries(arm_manipulation_api_walk_to PUBLIC bosdyn_client_static)
 install(TARGETS arm_manipulation_api_walk_to DESTINATION ${CMAKE_INSTALL_BINDIR})
@@ -254,12 +259,12 @@ target_include_directories(spot_cam PUBLIC
 target_link_libraries(spot_cam PUBLIC bosdyn_client_static)
 install(TARGETS spot_cam DESTINATION ${CMAKE_INSTALL_BINDIR})
 # Save a version file in the project's binary directory
-include(CMakePackageConfigHelpers)
 set(VERSION_FILE "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake")
 write_basic_package_version_file("${VERSION_FILE}"
   VERSION ${PACKAGE_VERSION}
   COMPATIBILITY AnyNewerVersion
 )
+endif()
 
 # This defines the instructions to generate a relocatable targets file at install time
 set(PROJECT_CONFIG_PATH "${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME}")
@@ -273,7 +278,6 @@ install(
 
 # Define Variables needed by package config file
 set(PACKAGE_INSTALL_PREFIX /opt/spot-cpp-sdk)
-set(DEP_INSTALL_PATH ${PACKAGE_INSTALL_PREFIX}/external)
 
 #this generates a relocatable config file for install, but it gets invoked at build time,
 #so the output has to be saved in a way that will not conflict with the export config
@@ -322,6 +326,5 @@ if (UNIX)
   set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/../LICENSE")
   set(CPACK_RESOURCE_FILE_README "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
   set(CPACK_PACKAGING_INSTALL_PREFIX "${PACKAGE_INSTALL_PREFIX}")
-  set(CPACK_INSTALLED_DIRECTORIES "${VCPKG_INSTALLED_DIR}/${VCPKG_TARGET_TRIPLET}/;${DEP_INSTALL_PATH}/")
   include(CPack)
 endif()

cpp/cmake/ProjectConfig.cmake.in

@@ -7,9 +7,11 @@ list(APPEND CMAKE_PREFIX_PATH @DEP_INSTALL_PATH@)
 include(CMakeFindDependencyMacro)
 find_dependency(Protobuf CONFIG REQUIRED)
 find_dependency(Eigen3 CONFIG REQUIRED)
-find_dependency(gRPC CONFIG REQUIRED)
-find_dependency(CLI11 CONFIG REQUIRED)
+find_dependency(PkgConfig CONFIG REQUIRED)
+pkg_check_modules(GRPC REQUIRED grpc)
+pkg_check_modules(GRPCPP REQUIRED grpc++)
 find_dependency(Threads REQUIRED)
+find_dependency(CLI11 REQUIRED)
 # Pick up the auto-generated file which knows how to add the library targets
 # This will mean that we do not have to supply full paths for the libraries
 set(exports_file "${CMAKE_CURRENT_LIST_DIR}/@EXPORTS_FILE@")