PR #12310 from Eran: realsense2-all

maloel · web-flow · commit 7979fd46b2de · 2023-11-02T12:57:35.000+02:00
diff --git a/.github/workflows/buildsCI.yaml b/.github/workflows/buildsCI.yaml
@@ -137,7 +137,7 @@ jobs:
       # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
       shell: bash
       run: |        
-        LRS_SRC_DIR=$(pwd)   
+        LRS_SRC_DIR=$(pwd)
         cd ${{env.WIN_BUILD_DIR}}
         cmake ${LRS_SRC_DIR} -G "Visual Studio 16 2019" -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=false -DBUILD_TOOLS=true -DBUILD_UNIT_TESTS=true -DUNIT_TESTS_ARGS="--not-live --context=windows" -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=false -DPYTHON_EXECUTABLE=${{env.PYTHON_PATH}} -DBUILD_PYTHON_BINDINGS=true 
 
@@ -154,6 +154,15 @@ jobs:
       run: |
         python3 unit-tests/run-unit-tests.py --no-color --debug --stdout --not-live --context "windows" ${{env.WIN_BUILD_DIR}}/Release
 
+    - name: Client for realsense2-all
+      shell: bash
+      run: |
+        mkdir ${{env.WIN_BUILD_DIR}}/rs-all-client
+        cd ${{env.WIN_BUILD_DIR}}/rs-all-client
+        cmake $GITHUB_WORKSPACE/.github/workflows/rs-all-client -G "Visual Studio 16 2019"
+        cmake --build . --config Release -- -m
+        ./Release/rs-all-client
+
 
   #--------------------------------------------------------------------------------
   Win_SH_Py_DDS_CI:  # Windows, Shared, Python, Tools, DDS, libCI without executables
@@ -382,7 +391,16 @@ jobs:
       run: |
         cd build
         cmake .. -DCMAKE_BUILD_TYPE=${{env.LRS_RUN_CONFIG}} -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DBUILD_UNIT_TESTS=false -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=true -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3) -DFORCE_RSUSB_BACKEND=true
-        cmake --build . -- -j4  
+        cmake --build . -- -j4
+
+    - name: Client for realsense2-all
+      shell: bash
+      run: |
+        mkdir build/rs-all-client
+        cd build/rs-all-client
+        cmake ../../.github/workflows/rs-all-client -DBUILD_WITH_DDS=ON -DFORCE_RSUSB_BACKEND=ON
+        cmake --build . -- -j4
+        ./rs-all-client
 
     - name: LibCI
       # Note: we specifically disable BUILD_UNIT_TESTS so the executable C++ unit-tests won't run
@@ -394,12 +412,12 @@ jobs:
 
   #--------------------------------------------------------------------------------
   U22_SH_RSUSB_LiveTest:  # Ubuntu 2022, Shared, Legacy live-tests
-    runs-on: ubuntu-22.04     
+    runs-on: ubuntu-22.04
     timeout-minutes: 60
     env: 
       LRS_BUILD_NODEJS: true
     steps:
-    - uses: actions/checkout@v3   
+    - uses: actions/checkout@v3
           
     - name: Check_API
       shell: bash
diff --git a/.github/workflows/rs-all-client/CMakeLists.txt b/.github/workflows/rs-all-client/CMakeLists.txt
@@ -0,0 +1,53 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+cmake_minimum_required( VERSION 3.15 )
+
+#
+# This tests whether we can link with realsense2-all and not have any missing external symbols.
+# Without realsense2-all, we'd need to link with:
+#     realsense2 realsense-file rsutils
+# Or, if DDS was enabled:
+#     realsense2 realsense-file rsutils fastcdr fastrtps foonathan_memory realdds
+# And the list gets longer if we add libraries.
+#
+# On Windows, no additional special libraries are needed.
+# On Linux, we have other dependencies:
+#     libusb udev
+# These are not part of realsense2-all, even though we depend on them!
+#
+
+project( rs-all-client )
+
+option( BUILD_SHARED_LIBS "Build using shared libraries" OFF )
+
+if( WIN32 )
+    # Take away the other configurations because they'd require we picked another link
+    # directory and target... keep it simple...
+    set( CMAKE_CONFIGURATION_TYPES "Release" )
+endif()
+
+add_executable( ${PROJECT_NAME} main.cpp )
+set_target_properties( ${PROJECT_NAME} PROPERTIES
+    CXX_STANDARD 14
+    MSVC_RUNTIME_LIBRARY MultiThreaded$<$<CONFIG:Debug>:Debug>  # New in version 3.15; ignored in Linux
+    )
+
+target_include_directories( ${PROJECT_NAME} PRIVATE
+    ../../../include
+    ../../../third-party/rsutils/include
+    )
+target_link_directories( ${PROJECT_NAME} PRIVATE ${CMAKE_BINARY_DIR}/../Release )
+
+target_link_libraries( ${PROJECT_NAME} PRIVATE realsense2-all )
+
+if( NOT WIN32 )
+    find_library( LIBUSB NAMES usb-1.0 )
+    target_link_libraries( ${PROJECT_NAME} PRIVATE pthread ${LIBUSB} )
+    if( NOT FORCE_RSUSB_BACKEND )
+        target_link_libraries( ${PROJECT_NAME} PRIVATE udev )
+    endif()
+    if( BUILD_WITH_DDS )
+        target_link_libraries( ${PROJECT_NAME} PRIVATE ssl crypto rt )
+    endif()
+endif()
+
diff --git a/.github/workflows/rs-all-client/main.cpp b/.github/workflows/rs-all-client/main.cpp
@@ -0,0 +1,56 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+
+#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
+
+#include <rsutils/time/timer.h>
+#include <iostream>             // for cout
+#include <chrono>
+#include <thread>
+
+int main(int argc, char * argv[]) try
+{
+    rs2::log_to_console( RS2_LOG_SEVERITY_DEBUG );
+
+    rs2::context context;
+    auto devices = context.query_devices();
+    if( devices.size() )
+    {
+        // This can run under GHA, too -- so we don't always have devices
+        // Run for just a little bit, count the frames
+        size_t n_frames = 0;
+        {
+            rs2::pipeline p( context );
+            auto profile = p.start();
+            auto device = profile.get_device();
+            std::cout << "Streaming on " << device.get_info( RS2_CAMERA_INFO_NAME ) << std::endl;
+
+            rsutils::time::timer timer( std::chrono::seconds( 3 ) );
+            while( ! timer.has_expired() )
+            {
+                // Block program until frames arrive
+                rs2::frameset frames = p.wait_for_frames();
+                ++n_frames;
+            }
+        }
+
+        std::cout << "Got " << n_frames << " frames" << std::endl;
+    }
+    else
+    {
+        // Allow enough time for DDS enumeration
+        std::this_thread::sleep_for( std::chrono::seconds( 3 ) );
+    }
+
+    return EXIT_SUCCESS;
+}
+catch (const rs2::error & e)
+{
+    std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n    " << e.what() << std::endl;
+    return EXIT_FAILURE;
+}
+catch (const std::exception& e)
+{
+    std::cerr << e.what() << std::endl;
+    return EXIT_FAILURE;
+}
diff --git a/CMake/Findfoonathan_memory.cmake b/CMake/Findfoonathan_memory.cmake
@@ -0,0 +1,35 @@
+
+# This is a dummy file, just so CMake does not complain:
+
+# CMake Error at build/third-party/fastdds/CMakeLists.txt:239 (find_package):
+#   By not providing "Findfoonathan_memory.cmake" in CMAKE_MODULE_PATH this
+#   project has asked CMake to find a package configuration file provided by
+#   "foonathan_memory", but CMake did not find one.
+#
+#   Could not find a package configuration file provided by "foonathan_memory"
+#   with any of the following names:
+#
+#     foonathan_memoryConfig.cmake
+#     foonathan_memory-config.cmake
+#
+#   Add the installation prefix of "foonathan_memory" to CMAKE_PREFIX_PATH or
+#   set "foonathan_memory_DIR" to a directory containing one of the above
+#   files.  If "foonathan_memory" provides a separate development package or
+#   SDK, be sure it has been installed.
+
+# FastDDS requires foonathan_memory and will not find it if we do not provide this
+# file.
+#
+# Since all the variables should already be set by external_foonathan_memory.cmake,
+# we don't really do anything.
+
+# This may not be the proper way to do this. But it works...
+
+
+#message( "In Findfoonathan_memory.cmake" )
+
+
+#find_package( PkgConfig )
+#pkg_check_modules( foonathan_memory QUIET foonathan_memory )
+
+
diff --git a/CMake/external_fastdds.cmake b/CMake/external_fastdds.cmake
@@ -47,13 +47,13 @@ function(get_fastdds)
     mark_as_advanced(FETCHCONTENT_UPDATES_DISCONNECTED_FASTDDS)
 
     # place FastDDS project with other 3rd-party projects
-    set_target_properties(fastcdr fastrtps PROPERTIES
+    set_target_properties(fastcdr fastrtps foonathan_memory PROPERTIES
                           FOLDER "3rd Party/fastdds")
 
     list(POP_BACK CMAKE_MESSAGE_INDENT) # Unindent outputs
 
     add_library(dds INTERFACE)
-    target_link_libraries(dds INTERFACE  fastcdr fastrtps)
+    target_link_libraries( dds INTERFACE fastcdr fastrtps )
 
     add_definitions(-DBUILD_WITH_DDS)
 
diff --git a/CMake/external_foonathan_memory.cmake b/CMake/external_foonathan_memory.cmake
@@ -1,83 +1,44 @@
 cmake_minimum_required(VERSION 3.11) 
 include(FetchContent)
 
-# Mark new options from FetchContent as advanced options
-mark_as_advanced(FETCHCONTENT_QUIET)
-mark_as_advanced(FETCHCONTENT_BASE_DIR)
-mark_as_advanced(FETCHCONTENT_FULLY_DISCONNECTED)
-mark_as_advanced(FETCHCONTENT_UPDATES_DISCONNECTED)
+# We use a function to enforce a scoped variables creation only for FastDDS build (i.e turn off BUILD_SHARED_LIBS which is used on LRS build as well)
+function(get_foonathan_memory)
 
-message(CHECK_START  "Fetching & Installing foonathan_memory...")
-list(APPEND CMAKE_MESSAGE_INDENT "  ")
+    # Mark new options from FetchContent as advanced options
+    mark_as_advanced(FETCHCONTENT_QUIET)
+    mark_as_advanced(FETCHCONTENT_BASE_DIR)
+    mark_as_advanced(FETCHCONTENT_FULLY_DISCONNECTED)
+    mark_as_advanced(FETCHCONTENT_UPDATES_DISCONNECTED)
 
-FetchContent_Declare(
-  foonathan_memory
-  GIT_REPOSITORY https://github.com/foonathan/memory.git
-  GIT_TAG        "v0.7-2"
-  GIT_SHALLOW ON    # No history needed
-  SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/third-party/foonathan_memory
-)
+    message(CHECK_START  "Fetching foonathan_memory...")
+    list(APPEND CMAKE_MESSAGE_INDENT "  ")
 
-# Remove unrequired targets
-set(FOONATHAN_MEMORY_BUILD_VARS -DBUILD_SHARED_LIBS=OFF             # explicit set static lib
-                                -DFOONATHAN_MEMORY_BUILD_EXAMPLES=OFF 
-                                -DFOONATHAN_MEMORY_BUILD_TESTS=OFF
-                                -DFOONATHAN_MEMORY_BUILD_TOOLS=ON)  # this tool is needed during configure time only, FastDDS recommend turning it ON.
-   
-# Align STATIC CRT definitions with LRS   
-if(BUILD_WITH_STATIC_CRT)
-    set(FOONATHAN_MEMORY_BUILD_VARS ${FOONATHAN_MEMORY_BUILD_VARS}
-                                    -DCMAKE_POLICY_DEFAULT_CMP0091:STRING=NEW 
-                                    -DCMAKE_MSVC_RUNTIME_LIBRARY:STRING=MultiThreaded$<$<CONFIG:Debug>:Debug>)
-endif()  
-  
+    FetchContent_Declare(
+      foonathan_memory
+      GIT_REPOSITORY https://github.com/foonathan/memory.git
+      GIT_TAG        "v0.7-3"
+      GIT_SHALLOW ON    # No history needed
+      SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/third-party/foonathan_memory
+    )
 
-# Since `FastDDS` require foonathan_memory package installed during configure time,
-# We download it build it and install it both in Release & Debug configuration since we need both available.
-# We use `FetchContent_Populate` and not `FetchContent_MakeAvailable` for that reason, we want to manually configure and build it.
-FetchContent_GetProperties(foonathan_memory)
-if(NOT foonathan_memory_POPULATED)
-  FetchContent_Populate(foonathan_memory)
-endif()
+    # Always a static library
+    set( BUILD_SHARED_LIBS OFF )
 
-# Mark new options from FetchContent as advanced options
-mark_as_advanced(FETCHCONTENT_SOURCE_DIR_FOONATHAN_MEMORY)
-mark_as_advanced(FETCHCONTENT_UPDATES_DISCONNECTED_FOONATHAN_MEMORY)
+    # Set foonathan_memory variables
+    # These are exposed options; not internal
+    set( FOONATHAN_MEMORY_BUILD_EXAMPLES OFF )
+    set( FOONATHAN_MEMORY_BUILD_TESTS    OFF )
+    set( FOONATHAN_MEMORY_BUILD_TOOLS    OFF )
 
+    FetchContent_MakeAvailable( foonathan_memory )
 
-# Configure stage
-execute_process(COMMAND "${CMAKE_COMMAND}" -G "${CMAKE_GENERATOR}" -DCMAKE_INSTALL_PREFIX=${CMAKE_CURRENT_BINARY_DIR}/fastdds/fastdds_install
-                                                                   ${FOONATHAN_MEMORY_BUILD_VARS}
-                                                                   . 
-                                                                    WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/third-party/foonathan_memory" 
-                                                                    OUTPUT_QUIET
-                                                                    RESULT_VARIABLE configure_ret
-)
+    # Mark new options from FetchContent as advanced options
+    mark_as_advanced(FETCHCONTENT_SOURCE_DIR_FOONATHAN_MEMORY)
+    mark_as_advanced(FETCHCONTENT_UPDATES_DISCONNECTED_FOONATHAN_MEMORY)
 
-# Build and install Debug version
-execute_process(COMMAND "${CMAKE_COMMAND}" --build . --config Debug --target install
-    WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/third-party/foonathan_memory" 
-    OUTPUT_QUIET
-    RESULT_VARIABLE debug_build_ret
-)
+    list(POP_BACK CMAKE_MESSAGE_INDENT)
+    message(CHECK_PASS "Done")
 
-# Build and install RelWithDeb version
-execute_process(COMMAND "${CMAKE_COMMAND}" --build . --config RelWithDebInfo --target install
-    WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/third-party/foonathan_memory" 
-    OUTPUT_QUIET
-    RESULT_VARIABLE rel_with_deb_info_build_ret
-)
+endfunction()
 
-# Build and install Release version
-execute_process(COMMAND "${CMAKE_COMMAND}" --build . --config Release --target install
-    WORKING_DIRECTORY "${CMAKE_BINARY_DIR}/third-party/foonathan_memory" 
-    OUTPUT_QUIET
-    RESULT_VARIABLE release_build_ret
-)
-
- if(configure_ret OR debug_build_ret OR release_build_ret OR rel_with_deb_info_build_ret)
-        message( FATAL_ERROR "Failed to build foonathan_memory")
- endif()
-
-list(POP_BACK CMAKE_MESSAGE_INDENT)
-message(CHECK_PASS "Done")
+get_foonathan_memory()
diff --git a/CMake/lrs_options.cmake b/CMake/lrs_options.cmake
@@ -47,4 +47,5 @@ else()
 endif()
 option(BUILD_PC_STITCHING "Build pointcloud-stitching example" OFF)
 option(BUILD_WITH_DDS "Access camera devices through DDS topics (requires CMake 3.16.3)" OFF)
+option(BUILD_RS2_ALL "Build realsense2-all static bundle containing all realsense libraries (with BUILD_SHARED_LIBS=OFF)" ON)
  
diff --git a/CMake/unix_config.cmake b/CMake/unix_config.cmake
@@ -11,6 +11,7 @@ macro(os_set_flags)
     endif()
     set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_BUILD_TYPE})
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_BUILD_TYPE})
+    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_BUILD_TYPE})
 
     set(CMAKE_POSITION_INDEPENDENT_CODE ON)
     set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -pedantic -D_DEFAULT_SOURCE")
diff --git a/CMake/windows_config.cmake b/CMake/windows_config.cmake
@@ -9,6 +9,7 @@ macro(os_set_flags)
     # Note: this puts the outputs under <binary>/<build-type>
     set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
+    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
 
     if(BUILD_WITH_OPENMP)
         find_package(OpenMP REQUIRED)
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -119,3 +119,6 @@ endif()
 
 include(CMake/embedd_udev_rules.cmake)
 
+if( BUILD_RS2_ALL )
+    include( src/realsense2-all.cmake )
+endif()
diff --git a/src/realsense2-all.cmake b/src/realsense2-all.cmake
